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

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1406

Lastpage

1411

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5985782

Filename

5985782