Abstract:
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:
E. V. Vetchanin, Yu. L. Karavaev, A. A. Kalinkin, A. V. Klekovkin, E. N. Pivovarova, “A model of a screwless underwater robot”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 25:4 (2015), 544–553
\Bibitem{VetKarKal15}
\by E.~V.~Vetchanin, Yu.~L.~Karavaev, A.~A.~Kalinkin, A.~V.~Klekovkin, E.~N.~Pivovarova
\paper A model of a~screwless underwater robot
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2015
\vol 25
\issue 4
\pages 544--553
\mathnet{http://mi.mathnet.ru/vuu508}
\crossref{https://doi.org/10.20537/vm150411}
\elib{https://elibrary.ru/item.asp?id=25109977}
Linking options:
https://www.mathnet.ru/eng/vuu508
https://www.mathnet.ru/eng/vuu/v25/i4/p544
This publication is cited in the following 3 articles:
Felix Chernousko, Nikolay Bolotnik, Dynamics of Mobile Systems with Controlled Configuration, 2024, 255
A. A. Kilin, A. I. Klenov, V. A. Tenenev, “Upravlenie dvizheniem tela s pomoschyu vnutrennikh mass v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 10:4 (2018), 445–460
Yury L. Karavaev, Alexander A. Kilin, Anton V. Klekovkin, “Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot”, Regul. Chaotic Dyn., 21:7-8 (2016), 918–926
Citation in format AMSBIB
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