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模块化自主水下机器人的机械设计与实现
Alternative TitleMechanical Design and Implementation of a Modular Autonomous Underwater Vehicle
孟令帅; 林扬; 郑荣; 徐红丽; 谷海涛; 贾庆勇
Department海洋信息技术装备中心
Source Publication机器人
ISSN1002-0446
2016
Volume38Issue:4Pages:395-401
Indexed ByEI ; CSCD
EI Accession number20163602766432
CSCD IDCSCD:5803879
Contribution Rank1
Funding Organization中国科学院国防科技创新基金(CXJJ-15M031) ; 辽宁省自然科学基金(2015010160-301)
Keyword自主水下机器人 模块化 外形设计 结构设计
Abstract介绍了一种具有基本航行能力且可扩展其他功能的模块化水下机器人。利用3维设计软件Solidworks及计算流体力学软件CFX对外形进行分析优化,降低水下机器人的功耗;对各功能舱段及段与段的连接形式采用模块化设计,结构简单,便于更换维修;此外还对耐压壳体强度及稳定性进行了理论计算及软件仿真。湖试证明,该水下机器人利用自身携带的传感器可以完成基本航行功能,包括自主定向航行、自主定速航行、自主定深航行、位置闭环航行等功能。
Other AbstractA modular autonomous underwater vehicle is introduced, which has basic navigation ability and can realize other functions through extending. 3D parametric design software Solidworks and computational fluid dynamics software CFX are used to analyze and optimize the shape, which can reduce the power consumption. Modular design is adopted in every function module and the connection form between two sections, which simplifies the structure and makes maintenance easy. In addition, the theoretical calculation and software simulation are performed on the strength and stability of pressure hull. Lake tests prove that the autonomous underwater vehicle can complete basic navigation functions with their own sensors, such as independent constant-orientation sailing, independent constant-speed sailing, independent depth-keeping sailing and position closed-loop sailing.
Language中文
Citation statistics
Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18856
Collection海洋信息技术装备中心
Corresponding Author孟令帅
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
Recommended Citation
GB/T 7714
孟令帅,林扬,郑荣,等. 模块化自主水下机器人的机械设计与实现[J]. 机器人,2016,38(4):395-401.
APA 孟令帅,林扬,郑荣,徐红丽,谷海涛,&贾庆勇.(2016).模块化自主水下机器人的机械设计与实现.机器人,38(4),395-401.
MLA 孟令帅,et al."模块化自主水下机器人的机械设计与实现".机器人 38.4(2016):395-401.
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