The concept design of a mobile amphibious spherical robot for underwater operation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

	The concept design of a mobile amphibious spherical robot for underwater operation
	Jia LC(贾连超); Hu ZQ(胡志强); Geng LB(耿令波); Yang Y(杨翊); Wang C(王超)
	2016
会议名称	6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期	June 19-22, 2016
会议地点	Chengdu, China
关键词	spherical robots underwater robots amphibious underwater operations
页码	411-415
通讯作者	贾连超
中文摘要	The existing underwater robots is less steerable at low speeds and special devices are needed for the deployment and recovery of these robots. This makes it unsuitable for the tasks such as underwater inspection and manipulation, especially when cost is strictly restricted. For the design of underwater robots with high mobility and autonomy, in this paper an amphibious robot is proposed. This robot is spherical with two arms outside the spherical hull. The spherical design gives it the ability to roll on the ground. So the robot can autonomously head to the target water without human intervention. This will reduce the cost and enhance its autonomy. The robot employs screw propellers mounted on the two arms for underwater propulsion. With the rotation of the arms the direction of the thrust can be adjusted, so to realize thrust vectoring which can enhance its mobility to a large extent. The arms can also be used for underwater manipulation and for the realization of center of gravity adjustment. The latter will enhance its stability when used for underwater operation. The structure design and motion principle of the robot is given in detail. The dynamics of the robot is also established. The flow field of the robot is numerically simulated for the validation of the design concept.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-5090-2732-3
WOS记录号	WOS:000389835200076
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19306]
专题	海洋机器人卓越创新中心
推荐引用方式 GB/T 7714	Jia LC,Hu ZQ,Geng LB,et al. The concept design of a mobile amphibious spherical robot for underwater operation[C]. 见:6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.