A new concept spherical underwater robot propelled by thrust vector synthetic jet actuator
文献类型：会议论文
| 作者 | 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)
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| 出版日期 | 2016 |
| 会议名称 | OCEANS 2016 - Shanghai |
| 会议日期 | April 10-13, 2016 |
| 会议地点 | Shanghai, China |
| 关键词 | synthetic jet thrust vector spherical underwater robot dynamics |
| 页码 | 1-4 |
| 通讯作者 | 耿令波 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS 2016 - Shanghai
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 0197-7385 |
| ISBN号 | 978-1-4673-9724-7 |
| WOS记录号 | WOS:000386521800220 |
| 源URL | [http://ir.sia.cn/handle/173321/18764]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 推荐引用方式 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]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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