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The concept design of a mobile amphibious spherical robot for underwater operation
Jia LC(贾连超); Hu ZQ(胡志强); Geng LB(耿令波); Yang Y(杨翊); Wang C(王超); Jia LC(贾连超
作者部门海洋机器人卓越创新中心
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码411-415
收录类别EI ; CPCI(ISTP)
EI收录号20164302940205
WOS记录号WOS:000389835200076
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词Spherical Robots Underwater Robots Amphibious Underwater Operations
摘要The existing underwater robots is less steerable at low speeds and special devices are needed for the deployment and recovery of these robots. This makes it unsuitable for the tasks such as underwater inspection and manipulation, especially when cost is strictly restricted. For the design of underwater robots with high mobility and autonomy, in this paper an amphibious robot is proposed. This robot is spherical with two arms outside the spherical hull. The spherical design gives it the ability to roll on the ground. So the robot can autonomously head to the target water without human intervention. This will reduce the cost and enhance its autonomy. The robot employs screw propellers mounted on the two arms for underwater propulsion. With the rotation of the arms the direction of the thrust can be adjusted, so to realize thrust vectoring which can enhance its mobility to a large extent. The arms can also be used for underwater manipulation and for the realization of center of gravity adjustment. The latter will enhance its stability when used for underwater operation. The structure design and motion principle of the robot is given in detail. The dynamics of the robot is also established. The flow field of the robot is numerically simulated for the validation of the design concept.
语种英语
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19306
专题海洋机器人卓越创新中心
通讯作者Jia LC(贾连超
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Northeastern University, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
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GB/T 7714
Jia LC,Hu ZQ,Geng LB,et al. The concept design of a mobile amphibious spherical robot for underwater operation[C]. Piscataway, NJ, USA:IEEE,2016:411-415.
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