This paper describes the operational theory and design of quadridirectional air thrusters ('quads') for propulsion of free-floating robots. Two quad thrusters were built for propulsion of the free-floating robot of Ohio Univerity. In this design, the air is drawn from a central air tank and routed to four nozzles of a quad thruster via a pressure regulator, a distribution manifold, four solenoid valves, and a quad manifold. The pressure regulator is controlled by a d.c. servomotor and the solenoid valves are turned on/off using the digital output ports of the computer. The performance characteristics of this quad thruster were determined experimentally. The experiment measurements of the thrust as a function of the regulated pressure show a good match between the measured data and the data predicted by the supporting theory.
Design of quadri-directional air thrusters for free-floating robot applications
Entwicklung von Vierrichtungstriebwerken für freischwebende Robotereinsätze
1994
5 Seiten, 7 Bilder, 11 Quellen
Conference paper
English
Quadri-directional Air Thrusters for Free-floating Robot Applications
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