Quadratic damping model for a spherical mobile robot moving on the free surface of the water

Author

Alizadeh, H. Vahid ; Mahjoob, M.J.

Author_Institution

Center for Mechatron. & Autom., Univ. of Tehran, Tehran, Iran

fYear

2011

fDate

17-18 Sept. 2011

Firstpage

125

Lastpage

130

Abstract

In this paper, The spherical robot will be studied as an amphibious mobile robot. Motion of the spherical robot on the surface of water will be proposed as a new application for the spherical robot. The driving mechanism and design of such a robot will be introduced. The dynamic equation of motion of the robot will be derived and verified both theoretically and experimentally. On the other hand, straight-line motion of the spherical robot on the surface of water will be simulated using computational fluid dynamics. A new quadratic damping model will be introduced using correlation between the drag torque (fluid resistance) and the angular velocity of the robot. Eventually, the quadratic damping model will be utilized to simulate the motion of the spherical mobile robot on the free surface of water.

Keywords

angular velocity; computational fluid dynamics; drag; hydrodynamics; marine vehicles; mobile robots; robot dynamics; torque; amphibious mobile robots; angular velocity; computational fluid dynamics; drag torque; fluid resistance; motion dynamic equation; quadratic damping model; robot dynamics; spherical mobile robots; water free surface; Angular velocity; Blades; Drag; Equations; Mathematical model; Mobile robots; Amphibious Mobile Robot; Drag Coefficient; Quadratic Damping; Spherical robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic and Sensors Environments (ROSE), 2011 IEEE International Symposium on

Conference_Location

Montreal, QC

Print_ISBN

978-1-4577-0819-0

Type

conf

DOI

10.1109/ROSE.2011.6058541

Filename

6058541