Analysis and improvement of the water-jet propulsion system of a spherical underwater robot

Author

Yue, Chunfeng ; Guo, Shuxiang ; Lin, Xichuan ; Du, Juan

Author_Institution

Fac. of Eng., Kagawa Univ., Kagawa, Japan

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2208

Lastpage

2213

Abstract

In this paper, we present the static analysis of a water-jet propulsion system. First, some previous researches in this field are introduced. Then, the motivation of static analysis is proposed. Based on that, we analyze the original mechanism that has been completed. After analyzing disadvantages of the mechanical structure of the propulsion system, improvement is carried out. We extend the motion range of water-jet thruster to +60°~-90°. Finally, the static analysis is carried out to improve the mechanical structure and compared the results with original design. The comparison result shows that about 50% deformation is declined. The static analysis is very useful to improve the propulsive accuracy of the water-jet propulsion system.

Keywords

autonomous underwater vehicles; control engineering computing; deformation; jets; marine propulsion; motion control; program diagnostics; deformation; mechanical structure; motion range; propulsive accuracy; spherical underwater robot; static analysis; water-jet propulsion system; water-jet thruster; Fasteners; Force; Propulsion; Robot sensing systems; Shape; Strain; Dynamics modeling; mechanical analysis; propulsion system; structure improvement;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285686

Filename

6285686