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Underwater motion control of a bio-inspired father-son robot based on hydrodynamics analysis
参考中译:基于流体动力学分析的仿生父子机器人水下运动控制


          

刊名：International Journal of Mechatronics and Automation
作者：Ruochen An（Graduate School of Engineering, Kagawa University）
Shuxiang Guo（Graduate School of Engineering, Kagawa University）
Chunying Li（Graduate School of Engineering, Kagawa University）
Tendeng Awa（Graduate School of Engineering, Kagawa University）
刊号：780LD009
ISSN：2045-1059
出版年：2022
年卷期：2022, vol.9, no.4
页码：210-218
总页数：9
分类号：TH
关键词：Father-son robot；Spherical underwater robot；Hydrodynamic analysis；Motion control strategy
参考中译：父子机器人；球形水下机器人；水动力分析；运动控制策略
语种：eng
文摘：The traditional underwater sample collection task is performed by an underwater vehicle equipped with a rigid multi-link arm, which has caused great interference. In this paper, a bio-inspired father-son robot is designed and developed for sample acquisition. Underwater motion control of the father-son robot is of vital importance, especially when it needs to work underwater. At first, we focused on developing a novel father-son system to perform an underwater sample acquisition task. The hydrodynamics analysis of the father robot is finished using FLUENT to obtain the relationship between water resistance and the speed of the underwater robot. After that, the control strategy of thrust from the thrusters is proposed using kinematical analysis of the underwater robot, according to the difference between the current depth and the target depth. Simulation and experiments verify the effectiveness of the proposed motion control strategy.
参考中译：传统的水下样品采集任务是由装有刚性多连杆臂的水下机器人来完成的，这造成了很大的干扰。本文设计并开发了一种仿生父子机器人，用于样本采集。父子机器人的水下运动控制是至关重要的，特别是当它需要在水下工作时。首先，我们专注于开发一种新型的父子系统来执行水下样本采集任务。利用FLUENT软件对父机器人进行了水动力学分析，得到了水阻力与水下机器人速度之间的关系。然后，通过对水下机器人的运动学分析，根据当前深度与目标深度的差异，提出了推进器推力的控制策略。仿真和实验验证了所提出的运动控制策略的有效性。



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