The hydrodynamics analysis for the underwater robot with a spherical hull

Xiaojuan Lan; Hanxu Sun; Qingxuan Jia

doi:10.1117/12.818322

8 May 2009 The hydrodynamics analysis for the underwater robot with a spherical hull

Xiaojuan Lan, Hanxu Sun, Qingxuan Jia

Proceedings Volume 7331, Space Exploration Technologies II; 73310E (2009) https://doi.org/10.1117/12.818322
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

The underwater spherical robot has a spherical pressure hull which contains power modules, sensors, and so on. It lacks robot arms or end effectors but is highly maneuverable, for the simplest symmetrical geometry is the sphere. This paper analyzes the spherical robot's hydrodynamic model with CFD software, concludes the spherical robot's hydrodynamic characteristics, and compares these characteristics with the hydrodynamic model of another underwater robot which has a streamlined hull. The effect of sphere hydraulic resistance on the control of the robot is analyzed with some examples.

Citation Download Citation

Xiaojuan Lan, Hanxu Sun, and Qingxuan Jia "The hydrodynamics analysis for the underwater robot with a spherical hull", Proc. SPIE 7331, Space Exploration Technologies II, 73310E (8 May 2009); https://doi.org/10.1117/12.818322

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