1.
Vetchanin E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N.
A model of a screwless underwater robot
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
Abstract
pdf (308.24 Kb)
The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.
| Keywords: |
mobile robot, screwless underwater robot, movement in ideal fluid |
| Citation: |
Vetchanin E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N., A model of a screwless underwater robot, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553 |
| DOI: |
10.20537/vm150411 |
| Full text: |
pdf
(308.24 Kb)
|
Journal Info
| Impact-factor WoS (2022): |
0.500 |
| Impact-factor RSCI (2022): |
0.342 (Q3) |
| ISSN (print): |
1994-9197 |
| ISSN (online): |
2076-5959 |
| Site: |
http://vst.ics.org.ru |
