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author:

Li Zhandong (Li Zhandong.) [1] | Tao Jianguo (Tao Jianguo.) [2] | Luo Yang (Luo Yang.) [3] | Sun Hao (Sun Hao.) [4] (Scholars:孙浩) | Ding Liang (Ding Liang.) [5] | Deng Zongquan (Deng Zongquan.) [6]

Indexed by:

CPCI-S

Abstract:

A complex-shaped underwater robot with a device which can weld for a nuclear reactor pool in emergency and inspect in daily was developed. Hydrodynamic coefficients in the dynamic model were critical to control precisely. In this work, a numerical simulation of robot had been employed for hydrodynamic coefficients calculation based on the computational fluid dynamics (CFD). Hydrodynamic coefficients including inertial hydrodynamic coefficients, viscous hydrodynamic coefficients were respectively solved by simulating virtually a steady-state motion simulation test and an unsteady-state motion simulation test in CFD. A prototype test in a circulating water channel had been launched to validate simulation results. Furthermore, viscous hydrodynamic and inertia hydrodynamic coefficients were acquired. The accuracy and reliability of hydrodynamic coefficients was proved by comparing to the prototype test results. All work carried out was indicated to be benefit to hydrodynamic coefficient study and complex-shaped underwater robot control.

Keyword:

CFD and Prototype testing Hydrodynamic coefficients Underwater Robot

Community:

  • [ 1 ] [Li Zhandong]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
  • [ 2 ] [Tao Jianguo]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
  • [ 3 ] [Luo Yang]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
  • [ 4 ] [Ding Liang]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
  • [ 5 ] [Deng Zongquan]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
  • [ 6 ] [Sun Hao]Fuzhou Univ, Fuzhou 350001, Fujian, Peoples R China

Reprint 's Address:

  • [Tao Jianguo]Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China

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Source :

2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM)

Year: 2017

Page: 474-478

Language: English

Cited Count:

WoS CC Cited Count: 3

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 3

Online/Total:281/10021987
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