The invention discloses a power propulsion system for an underwater robot and a design method. The power propulsion system for the underwater robot comprises a first longitudinal propeller, a second longitudinal propeller, a first vertical propeller and a second vertical propeller, wherein the first vertical propeller and the second vertical propeller are correspondingly arranged at the head end and the tail end of the power propulsion system; when the first longitudinal propeller and the second longitudinal propeller are positioned at the same rotating speed, the robot is controlled to advance and retreat; when the difference speed is formed by the first longitudinal propeller and the second longitudinal propeller, the robot is controlled to do yawing motion; when the first vertical propeller and the second vertical propeller are positioned at the same rotating speed, the robot is controlled to do heaving and wall-attaching adsorption actions; when the difference speed is formed by the first vertical propeller and the second vertical propeller which are correspondingly arranged at the head end and the tail end of the power propulsion system, the pitching motion of the robot is adjusted. According to the power propulsion system disclosed by the invention, by the arrangement of a mode switching and sewage disposing structure, the sewage disposing operation can be efficiently performed under the condition that the flexibility of the underwater robot is not reduced.
Power propulsion system for underwater robot and design method
2015-07-29
Patent
Electronic Resource
English
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |