Experimental Study on Tethered Underwater Robot

摘要：

　　A new kind of tethered underwater robot is proposed.The robot is equipped with two water jet thrusters which are served as main control mechanisms for the robot,thus the trajectory and attitude of the robot in multiple degrees can be maneuvered according to the commands of users.Laboratory experimental investigation on the behavior of this kind of underwater robot in a test water tank is reported the hydrodynamic and control performances of the robot in the test water tank are described.In our paper the electromechunical control system to the robot is also introduced.The results of the study indicate that a flexible attitude and trajectory control of a tethered underwater robot can be achieved with the water jet thrusters proposed in this research.

关键词： Underwater Tethered underwater robot Model test Hydraulic jet propulsion Multi-degree control

作者: Jiaming Wu Dewen Yang Li Wu Zhiquan Ma Zhilin Chen Jinghua Ye Ying Xu

作者单位: Department of Naval Architecture and Ocean Engineering,South China University of Technology,Guangzho Guangzhou Panyu Lingshan Shipyard Ltd.,Guangzhou 511473,China

会议类型: 国际会议

会议名称: SUT International Conterence on Subsea Technology and Deepwater Engineering(SUT 水下技术和深水工程国际会议)

会议地点: 深圳

会议语种:英文

页码: 413-421

在线出版日期: 2012-09-25（万方平台首次上网日期，不代表论文的发表时间）