Title :
The underwater motion simulation of a spherical amphibious robot
Author :
Xu Ma ; Shuxiang Guo ; Liguo Li ; Yuehui Ji ; Yunliang Wang
Author_Institution :
Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst. & Biomed. Robot Lab., Tianjin Univ. of Technol., Tianjin, China
Abstract :
Spherical amphibious robots, as a kind of novel robot, are being studied by researchers. Underwater analysis is an important field in underwater robot research. Underwater movement of the robot which this article mentioned is accomplished by interaction of servo motor and hydraulic motor. This paper presents the investigation of hydrodynamic performance of spherical amphibious robot with two essential motions, vertical motion and horizontal motion. Gambit 2.4.6 is employed to establish the 3D models and mesh. Meanwhile, simulation calculation and analysis of two models is implemented by Computational fluid dynamics (CFD) code, FLUENT 6.3.26. Finally, the velocity vectors, pressure contours, drag coefficient as well as force report for two states of motion are gained. Resistance of the report data shows that the robot is mainly subjected to differential pressure resistance.
Keywords :
computational fluid dynamics; control engineering computing; drag; flow control; hydraulic motors; marine control; mesh generation; mobile robots; motion control; pressure control; servomotors; solid modelling; underwater vehicles; velocity control; 3D models; CFD code; FLUENT 6.3.26; Gambit 2.4.6; computational fluid dynamics code; differential pressure resistance; drag coefficient; force report; horizontal motion; hydraulic motor; hydrodynamic performance; mesh; motion states; novel robot; pressure contours; servo motor; spherical amphibious robots; underwater analysis; underwater motion simulation; underwater movement; underwater robot research; velocity vectors; vertical motion; Analytical models; Computational fluid dynamics; Computational modeling; Conferences; Hydrodynamics; Immune system; Robots; Computational Fluid Dynamics (CFD); Hydrodynamic Performance; Spherical Amphibious Robot;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885686
