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.
The hydrodynamics analysis for the underwater robot with a spherical hull
Space Exploration Technologies II ; 2009 ; Orlando,Florida,United States
Proc. SPIE ; 7331
2009-05-01
Conference paper
Electronic Resource
English
The hydrodynamics analysis for the underwater robot with a spherical hull [7331-14]
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