Hydrodynamic Analysis of the Spherical Underwater Robot SUR-II

Yue, Chunfeng; Guo, Shuxiang; Shi, Liwei

doi:10.5772/56524

Cited by 56 publications

(23 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although the SURIII is 0.6 kg heavier than SURII in air, the resistance variety is not greater than the previous research [21]. The variety of mass underwater is less than that in air and the propulsive force is improved significantly, so the speed of the SURIII will be enhanced.…”

Section: Experiments and Resultsmentioning

confidence: 70%

“…Although an experiment which measured propulsive force of single thruster was conducted, the propulsive force of the high-speed motion and up motion can be calculated by vector synthesis. The maximum propulsive force of forward motion is 2√3 N. The maximum propulsive force of up motion is 6 N [21]. It indicates that the propulsive force of the novel propulsion system in forward and up motion is better than before.…”

Section: Experiments and Resultsmentioning

confidence: 88%

“…Above all, unforeseen deformation will adversely affect the robot, particularly the direction of the nozzle. Although the second-generation robot has already enhanced the rotation support between servo motors and the water-jet thruster and reduced the deformation of the system [21], its triangle support is only suitable for three water-jet thrusters and cannot be used for fours. Therefore, the deformation analysis for the annular support is very important.…”

Section: Mechanical Design and Analysis Of Propulsion Systemmentioning

confidence: 99%

See 2 more Smart Citations

Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII)

Guo

2017

Applied Sciences

Self Cite

View full text Add to dashboard Cite

This paper considers a novel propulsion system for the third-generation Spherical Underwater Robot (SURIII), the improved propulsion system is designed and analyzed to verify its increased stability compared to the second-generation Spherical Underwater Robot (SURII). With the new propulsion system, the robot is not only symmetric on the X axis but also on the Y axis, which increases the flexibility of its movement. The new arrangement also reduces the space constraints of servomotors and vectored water-jet thrusters. This paper also aims to the hydrodynamic characteristic of the whole robot. According to the different situations of the surge and heave motion, two kinds of methods are used to calculate the drag coefficient for the SURIII. For surge motion, the drag coefficient can be determined by the Reynolds number. For heave motion, considering about the influences of edges and gaps of the SURIII, the drag coefficient needs to be calculated by the dynamic equation. In addition, the Computational Fluid Dynamics (CFD) simulation is carried out to estimate some parameters which cannot be measured. The pressure contours, velocity vectors and velocity streamlines for different motions are extracted from the post-processor in the CFD simulation. The drag coefficients of surge and heave motion are both calculated by the simulation results and compared with the chosen one by Reynolds number. Finally, an experiment is also conducted for measure the propulsive force of the multi-vectored water-jet thrusters by using a 6-DoF load cell. The experimental results demonstrate the propulsive force is better than a previous version. Thus, the propulsive performance is better than before.

show abstract

Section: Experiments and Resultsmentioning

confidence: 70%

Section: Experiments and Resultsmentioning

confidence: 88%

Section: Mechanical Design and Analysis Of Propulsion Systemmentioning

confidence: 99%

See 1 more Smart Citation

Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII)

Guo

2017

Applied Sciences

Self Cite

View full text Add to dashboard Cite

show abstract

“…In this research, k-ε model is selected to describe the fluid situation, while turbulence occurs when the robot moves at a speed of 0.3m/s. The maximum speed of robot is about 0.3m/s [18,19]. There are two methods to describe the kinematic relationship between the fluid and the robot.…”

Section: Hydrodynamic Analysis Of the Sur-iimentioning

confidence: 99%

ANSYS FLUENT-based modeling and hydrodynamic analysis for a spherical underwater robot

Yue

Guo

2013

2013 IEEE International Conference on Mechatronics and Automation

Self Cite

View full text Add to dashboard Cite

For an underwater robot, hydrodynamic characteristics are very important. This paper focuses on the research of the hydrodynamic analysis of a spherical underwater robot with three motions, horizontal motion, vertical motion and yaw motion. Firstly, the prototype of related second generation spherical underwater robot (SUR-II) was developed. In order to analyze the hydrodynamic characteristics of the spherical underwater robot exactly, CATIA software was employed to establish the 3D models of the flow field. For the complex structure of the developed underwater robot causing the limitations on meshing and hydrodynamic analysis, we simplified the 3D models properly. Finally, we used ANASYS FLUENT to analyze the three models and compare the simulation results to the theoretical values. It showed that the error was less than 3%. The pressure contours and velocity vectors showed the detail of the flow field when the robot implemented the basic motions.

show abstract

“…And, movement flexibility and environmental compatibility are important indicators for an underwater exploration robot [4][5][6]. Compared with other types of robots, Spherical robot has great advantages in the movement flexibility and environmental compatibility [7][8][9][10][11][12]. The symmetrical spherical shell can withstand greater pressure and reduce the steering resistance.…”

Section: Introductionmentioning

confidence: 99%

Fluctuation characteristics and rolling control for an underactuated spherical underwater exploration robot

Li¹,

Yang²,

Liu³

2017

J. vibroeng.

View full text Add to dashboard Cite

Compared with other underwater exploration robots, Spherical underwater robot has an outstanding advantage for the underwater exploration, whose spherical shell has the excellent resiliency to protect the internal electronic components. In addition, this steering resistance is very small to move flexibly. In this paper, a type of spherical underwater robot with the pendulums and a propeller was studied on moving at the water bottom in a rolling manner. The structure and force were analyzed to understand that the hydrodynamic force's affection on the robot's rolling at the water bottom. A mathematical model was established with the mass parameters and speeding parameters. The virtual simulation environment was established in Adams software. Furthermore, the coupling fluctuation characteristics of the speed, swing angle and the torque were studied by the simulation and the experiment in a pool. The study proved that this robot not only can use the propeller to move in water, but also can roll at the water bottom by driving the spherical shell. Especially, the result also can be obtained that the robot can roll at water bottom stably by increasing the pendulum mass and lowering the motor speed.

show abstract

Hydrodynamic Analysis of the Spherical Underwater Robot SUR-II

Cited by 56 publications

References 18 publications

Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII)

Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII)

ANSYS FLUENT-based modeling and hydrodynamic analysis for a spherical underwater robot

Fluctuation characteristics and rolling control for an underactuated spherical underwater exploration robot

Contact Info

Product

Resources

About