Design and development of underwater robot

Author

Singh, Jagjeet ; Gandhi, Dhiraj ; Sanghani, Mayank ; Robi, P.S. ; Dwivedy, S.K.

Author_Institution

Mech. Eng, Indian Inst. of Technol., Guwahati, Guwahati, India

fYear

2015

fDate

18-20 Feb. 2015

Firstpage

1

Lastpage

7

Abstract

Majority of the design proposed for under water robots have been either biomimetic or motor driven thruster operated. This paper presents a novel design for a 4 degree of freedom thruster operated under water robot minimizing the effect of drag during under water navigation. In the paper possible hull shapes were analyzed. After deciding the shape, pressure distribution and drag forces were calculated. Depending on the result, the mathematical model was built based on suitable assertion. The calculations justify the efficiency of using a cylindrical hull and two perpendicular pairs of thrusters for the underwater robot. Finally, the paper also presents electronics and communication system suitable for the robot considering possible difficulties which may be encountered during underwater navigation.

Keywords

autonomous underwater vehicles; biomimetics; drag; marine navigation; 4DOF thruster; biomimetic; drag force; electronics and communication system; mathematical model; motor driven thruster; pressure distribution; underwater navigation; underwater robot; Batteries; Drag; Force; Mathematical model; Robots; Shape; Surges; Under water robotics; biomimetic; communication systems; drag force; thrusters;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation, Control and Embedded Systems (RACE), 2015 International Conference on

Conference_Location

Chennai

Type

conf

DOI

10.1109/RACE.2015.7097243

Filename

7097243