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A new concept spherical underwater robot propelled by thrust vector synthetic jet actuator
Geng LB(耿令波); Lin Y(林扬); Hu ZQ(胡志强); Wang C(王超); Meng LS(孟令帅); Li DD(李冬冬)
作者部门海洋信息技术装备中心
会议名称OCEANS 2016 - Shanghai
会议日期April 10-13, 2016
会议地点Shanghai, China
会议录名称OCEANS 2016 - Shanghai
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码1-4
收录类别EI ; CPCI(ISTP)
EI收录号20162902613144
WOS记录号WOS:000386521800220
产权排序1
ISSN号0197-7385
ISBN号978-1-4673-9724-7
关键词Synthetic Jet Thrust Vector Spherical Underwater Robot Dynamics
摘要Synthetic jet is a new type of underwater propulsion method with the merit of small size, compact structure, light weight, high efficiency and minimal effect on the drag profile of the vehicle. In this paper, a new concept spherical underwater robot propelled by thrust vector synthetic jet actuator is proposed. The synthetic jet actuator has an adjustable flexible nozzle actuated by 3 ropes uniformly distributed around the axis of the nozzle with the spacing of 120°. By deflecting the angle of the nozzle, the direction of the thrust can be adjusted, so to realize the 6 DOF's motion of the robot. The design of the robot makes it very compact in structure and gives it the ability to maneuver in confined environments. All of which make it competent for the observation tasks such as underwater infrastructure inspection or marine creature monitoring. The structure design of the robot and the thrust vector synthetic jet actuator is given in detail. The dynamic model of the robot is given which can be used to control the 6 DOF motion of the robot. The flow field of the robot with different nozzle deflection angle is given through numerical simulation.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18764
专题海洋信息技术装备中心
通讯作者Geng LB(耿令波)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China
2.University of Chinese Academy of Science, Beijing, 100049, China
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GB/T 7714
Geng LB,Lin Y,Hu ZQ,et al. A new concept spherical underwater robot propelled by thrust vector synthetic jet actuator[C]. Piscataway, NJ, USA:IEEE,2016:1-4.
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