Title :
Hydrodynamic analysis and optimization for dish shaped underwater robot
Author :
Wang, Tian ; Ye, Xiufen ; Wang, Lei ; Zhang, Chao
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
This paper presents a 5 DOF novel type of underwater robot structure. This robot has a closure and dish shaped profile. There is no accessory outside the robot, so the robot will perform well underwater. The mechanism and control system of the robot are given. The hydrodynamic performance is analyzed. The resistance is calculated by using RANS equation and k-ω model in the FLUENT. The robot profile is optimized by the results of resistance simulation. The results also verified the well performance of this robot and the parameters obtained can also be used for in-depth study of the system in the future.
Keywords :
Navier-Stokes equations; flow; hydrodynamics; marine control; mobile robots; optimisation; robot dynamics; 5 DOF novel type; FLUENT; RANS equation; Reynolds averaged Navier-Stokes equation; control system; dish shaped underwater robot; hydrodynamic analysis; k-ω model; optimization; Computational modeling; Equations; Hydrodynamics; Mathematical model; Resistance; Robot kinematics; CFD; Dish shape; RANS; Underwater robot; k-ω;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5985782
