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Research on Vectorial Waterjet Propulsion and Hydraulic Driving Technology of the Underwater Robot

Author: LiuHaiBo
Tutor: ShangJianZhong
School: National University of Defense Science and Technology
Course: Mechanical Engineering
Keywords: Underwater Robot Hybrid propulsion Hydraulic drive Waterjet propulsion
CLC: TP242.3
Type: Master's thesis
Year: 2011
Downloads: 25
Quote: 0
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Abstract


The 21st century is the century of the ocean , in view of the important position of underwater robots in the detection of marine resources in areas such as development and military , the world is making great efforts to develop high-performance underwater robot . In this paper, the National Natural Science Foundation of institutions and their mechanism of hybrid propulsion underwater robots based on wave energy , mainly related hybrid propulsion underwater robot hydraulic drive system and a water jet propulsion system . (1) hydraulic drive attitude adjustment programs and water jet propulsion power program . Design of complete hydraulic drive system , and the use of software tools such as MATLAB / SimHydraulics, ADAMS co-simulation of mechanical hydraulic system , verify that the hydraulic drive system to have the ability to work , have good command range ± 30 ° corner control performance. (2) using the Fluent software navigation fuselage underwater robots resistance Computational Fluid Dynamics (Computational Fluid Dynamic, CFD) simulation analysis , analysis of the navigational components of the resistance . On this basis , the comparison of the size of the different body shape resistance , comparing the size of the different inlet arrangement scheme resistance , these two aspects of the research work is a key issue to obtain low resistance of the fuselage . The study concluded that : the streamlined body shape , head water inlet arrangement scheme , navigation path of least resistance . (3) three different structures of the nozzle , the CFD simulation, comparison of the effectiveness of the orifice from the orifice loss and axial effective speed . By introducing the concept of the correction coefficient of the jet speed , it is proved that the first two vents structure is more likely to become the best structural solutions . ( 4 ) The calculation of momentum to get the value of the water jet propulsion theory , different nozzle test data used to design the water spray test system . A full explanation of the formation of small water jet propulsion system thrust efficiency . The theoretical analysis, simulation and experimental study combined with each other to obtain useful conclusions series hybrid propulsion underwater robotics .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Dedicated robot
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