The concept design of a mobile amphibious spherical robot for underwater operation
文献类型：会议论文
| 作者 | Jia LC(贾连超); Hu ZQ(胡志强) ; Geng LB(耿令波); Yang Y(杨翊); Wang C(王超)
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| 出版日期 | 2016 |
| 会议日期 | June 19-22, 2016 |
| 会议地点 | Chengdu, China |
| 关键词 | Spherical Robots Underwater Robots Amphibious Underwater Operations |
| 页码 | 411-415 |
| 英文摘要 | 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. |
| 产权排序 | 1 |
| 会议录 | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
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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 | 2379-7711 |
| ISBN号 | 978-1-5090-2732-3 |
| WOS记录号 | WOS:000389835200076 |
| 源URL | [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.Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Jia LC,Hu ZQ,Geng LB,et al. The concept design of a mobile amphibious spherical robot for underwater operation[C]. 见:. Chengdu, China. June 19-22, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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