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Proceedings Paper

Calculation and simulation of hydrodynamic forces for a novel detecting spherical robot
Author(s): Yansheng Li; Hanxu Sun; Yanheng Zhang; Ming Chu; Qingxuan Jia; Xiaojuan Lan
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Paper Abstract

At present, exploring the vast unknown fields (including space and ocean) has become a hot spot in the various agencies, As a moving carrier,the mobile intelligent robot plays an important role, such as communication base stations and observation platform. In order to adapt to a variety of working conditions,a new type of robot was proposed, which can move freely on land or in water with a circular shell, a single propeller and a pair of heavy pendulum. The pendulum inside the robot is used to adjust the attitude, which makes the robot move flexibly, and the circular shell has the excellent compression capability. In order to analyze the kinematics and dynamics characteristics in water, the hydrodynamic forces are studied before the manufacture by CFD simulation, which is a feasible method. It shortens the test cycle, and reduces the cost of the test. The new type of spherical robot is simplified into two kinds of finite element models. The experiments of robot for straight shipping and oblique shipping were simulated, in which the drag forces related with the line speed were determined; The experiments of robot for swaying and yawing were simulated, in which the added mass coefficients related with acceleration were determined. The experiments of robot for cantilevered pool were simulated, in which the rotational coefficients related with angular speed were determined. Through the above calculation and contrast, the comprehensive hydrodynamic results can be analyzed, which saved time for the initial design of robots and also proved that the robot has an outstanding ability underwater.

Paper Details

Date Published:
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Proc. SPIE 9084, Unmanned Systems Technology XVI, 908415; doi: 10.1117/12.2049578
Show Author Affiliations
Yansheng Li, Beijing Univ. of Posts and Telecommunications (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Yanheng Zhang, Beijing Univ. of Posts and Telecommunications (China)
Ming Chu, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Xiaojuan Lan, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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