Experimental investigations of the controlled motion of a screwless underwater robot

Karavaev, Yury L.; Kilin, Alexander A.; Klekovkin, Anton V.

doi:10.1134/s1560354716070133

Cited by 13 publications

(6 citation statements)

References 16 publications

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“…A detailed derivation of the equations of motion can be found in. 14 For the propellerless aquatic robot with sharp edge a model of plane-parallel motion is considered, which takes into account the resistance of the liquid. The system of equations describing motion has the form:…”

Section: Mathematical Model Of Motionmentioning

confidence: 99%

Propellerless aquatic robots

2020

Robots in Human Life

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Section: Mathematical Model Of Motionmentioning

confidence: 99%

Propellerless aquatic robots

2020

Robots in Human Life

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“…In this model [40], the motion occurs that is similar to one described in [37]. Other examples of mobile systems with rotors are considered in [41] and [42].…”

Section: Locomotion Of Systems Containing Internal Movable Massesmentioning

confidence: 99%

Locomotion of multibody robotic systems: Dynamics and optimization

Chernousko

2018

Theor appl mech (Belgr)

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Locomotion of multibody systems in resistive media can be based on periodic change of the system configuration. The following types of mobile robotic systems are examined in the paper: multilink snake-like systems; multibody systems in quasi-static motion; systems consisting of several interacting bodies; fish-like, frog-like, and boat-like systems swimming in fluids; systems containing moving internal masses. Dynamics of these systems subjected to various resistance forces, both isotropic and anisotropic, are investigated, including dry friction forces obeying Coulomb's law and forces directed against the velocity of the moving body and proportional to the velocity value or its square. Possible modes of locomotion and control algorithms are discussed. Optimization for various types of mobile robots is considered. Optimal values of geometrical and mechanical parameters as well as optimal controls are obtained that provide the maximum locomotion speed or minimum energy consumption. Results of experiments and computer simulation are discussed.

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“…In [11,42,43], also within the framework of the Kirchhoff equations, the motion of an unbalanced ellipsoid and a helical body by means of rotors was considered. The results of experimental investigations of the dynamics of an ellipsoid of zero buoyancy with rotors were presented in [18].…”

Section: Introductionmentioning

confidence: 99%

The Motion of a Balanced Circular Cylinder in an Ideal Fluid Under the Action of External Periodic Force and Torque

Vetchanin¹

2019

Nelin. Dinam.

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The motion of a circular cylinder in a fluid in the presence of circulation and external periodic force and torque is studied. It is shown that for a suitable choice of the frequency of external action for motion in an ideal fluid the translational velocity components of the body undergo oscillations with increasing amplitude due to resonance. During motion in a viscous fluid no resonance arises. Explicit integration of the equations of motion has shown that the unbounded propulsion of the body in a viscous fluid is impossible in the absence of external torque. In the general case, the solution of the equations is represented in the form of a multiple series.

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Experimental investigations of the controlled motion of a screwless underwater robot

Cited by 13 publications

References 16 publications

Propellerless aquatic robots

Propellerless aquatic robots

Locomotion of multibody robotic systems: Dynamics and optimization

The Motion of a Balanced Circular Cylinder in an Ideal Fluid Under the Action of External Periodic Force and Torque

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