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Proceedings Paper

The hydrodynamics analysis for the underwater robot with a spherical hull
Author(s): Xiaojuan Lan; Hanxu Sun; Qingxuan Jia
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Paper Abstract

The underwater spherical robot has a spherical pressure hull which contains power modules, sensors, and so on. It lacks robot arms or end effectors but is highly maneuverable, for the simplest symmetrical geometry is the sphere. This paper analyzes the spherical robot's hydrodynamic model with CFD software, concludes the spherical robot's hydrodynamic characteristics, and compares these characteristics with the hydrodynamic model of another underwater robot which has a streamlined hull. The effect of sphere hydraulic resistance on the control of the robot is analyzed with some examples.

Paper Details

Date Published: 8 May 2009
PDF: 8 pages
Proc. SPIE 7331, Space Exploration Technologies II, 73310E (8 May 2009); doi: 10.1117/12.818322
Show Author Affiliations
Xiaojuan Lan, Beijing Univ. of Posts and Telecommunications (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)

Published in SPIE Proceedings Vol. 7331:
Space Exploration Technologies II
Wolfgang Fink, Editor(s)

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