A highly stable and efficient spherical underwater robot with hybrid propulsion devices

Gu, Shenyan; Guo, Shuxiang; Zheng, Liang

doi:10.1007/s10514-019-09895-8

Cited by 57 publications

(27 citation statements)

References 30 publications

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“…For instance, when the limb q 1 is in failure, q 1 is equal to q 1c . According to Equation (10), P z becomes a parasitic motion that is:…”

Section: Inverse Displacement Analysis Under a Single Actuator Failurementioning

confidence: 99%

“…However, the complex mechanical structure of the vector water jet propulsion reduces the system's reliability [9]. In comparison, the vector propulsion system based on the propeller not only has the priorities of flexible assemble mode and high propulsion efficiency, but also maintains high maneuverability and a certain reliability [10,11]. Thus, the vector propulsion system based on the propeller is a more suitable option to improve the motion performance of the underwater vehicles in common applications.…”

Section: Introductionmentioning

confidence: 99%

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Design and Analysis of a Stiffness-Enhanced 3-PPS Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters

et al. 2022

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Vectored thrusters can significantly improve the maneuverability of underwater vehicles. However, due to the harsh underwater environment and severe working conditions, the thrust-vectoring device needs to be designed with high stiffness and high reliability. In this paper, a 3-degree-of-freedom (3-DOF) 3-PPS parallel mechanism is employed for the 2-DOF thrust-vectoring device, which has the advantages of high stiffness and a certain level of fault tolerance. The stiffness of the 3-PPS parallel mechanism is enhanced through employing additional passive prismatic joints. Based on the zero-torsion characteristics of the parallel mechanism, closed-form solutions are obtained for displacement analyses, and the orientation workspace of the moving platform under an actuation failure, i.e., one of the active prismatic joints is locked, is particularly investigated through an equi-volumetric partition method. To analyze the orientation workspace distribution under the actuation failure, the fault-tolerant workspace and the maximum inscribed workspace are defined. Furthermore, a new fault-tolerant index is proposed to evaluate the fault tolerance of the parallel mechanism. The proposed design analysis is validated through experiments on an engineering prototype of the parallel mechanism.

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“…For instance, when the limb q 1 is in failure, q 1 is equal to q 1c . According to Equation (10), P z becomes a parasitic motion that is:…”

Section: Inverse Displacement Analysis Under a Single Actuator Failurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Stiffness-Enhanced 3-PPS Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters

et al. 2022

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“…Studies of AUVs can be reviewed from different perspectives. From the thrust perspective, the main technologies are motor actuation (Kukulya et al, 2016), hydraulic propulsion (Chen et al, 2021), jet thrust (Korde 2004), magnetic fluid propulsion (Li et al, 2021), biothrust (Zhou et al, 2017), and multiple thrust (Gu et al, 2020), and so on. From the motion control perspective, it contains attitude control (Sakiyama & Motoi, 2018), sensing control (Yue et al, 2014), navigation routine control (Ataei & Yousefi-Koma, 2015), and so on.…”

Section: Introductionmentioning

confidence: 99%

Combustion‐enabled underwater vehicles (CUVs) in dynamic fluid environment

Wang

Yang

et al. 2023

Journal of Field Robotics

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Underwater vehicles have opened a unique path to multifunctionality and environmental adaptability. However, inadequate studies have been conducted to investigate the dynamic principle and performance of underwater vehicles in real applications with complex external conditions. Here, we propose a type of combustion‐enabled underwater vehicles that can perform stable high‐speed motions under dynamic fluid environment. Experiments are conducted to test the kinematic performance. Numerical simulations are developed to investigate the fluid–solid interaction phenomenon, and theoretical modeling is derived to study the dynamic principle of the combustion actuation process. The experimental, numerical, and theoretical results are compared with satisfactory agreements. The underwater vehicles perform ~3.4 body‐length distance within 0.2 s and a maximum speed of ~30 body‐length per second in horizontal direction. Parametric studies are conducted to investigate the sensitivity of the key factors to the kinematic performance of the reported underwater vehicles. In the end, we report the hybrid combustion‐enabled underwater vehicles (CUVs) that combined with propeller to realize continuous driving for multi‐mode operations. The experimental, numerical, and theoretical results indicate that hybrid CUVs can achieve more flexible and controllable motion performance.

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“…There is also a spherical underwater robot that has good flexibility and good hydrodynamic performance in our laboratory. SUR III [30] and SUR IV are equipped with four thrusters at the junction of the two hemispheres and realize an underwater speed switch of high speed and low speed after SUR II. SUR V [31] realizes the collaboration control between multiple robots while realizing speed switching.…”

Section: Introductionmentioning

confidence: 99%

Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification

Guo

et al. 2021

Micromachines

Self Cite

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Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father–Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruise and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra-inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by a tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquire the image information of the target object with the aid of the camera, and also to identify the target object. Finally, verification experiments are conducted in an indoor water tank and outdoor swimming pool conditions to verify the effectiveness of the proposed in this paper.

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A highly stable and efficient spherical underwater robot with hybrid propulsion devices

Cited by 57 publications

References 30 publications

Design and Analysis of a Stiffness-Enhanced 3-PPS Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters

Design and Analysis of a Stiffness-Enhanced 3-PPS Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters

Combustion‐enabled underwater vehicles (CUVs) in dynamic fluid environment

Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification

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