摘要
描述了水下滑翔机器人3个运动调节机构的设计,即浮力调节机构、俯仰调节机构和横滚调节机构,分析了运动调节机构与运动之间的关系.提出了采用CFX水动力计算软件分析水下滑翔机器人运动性能的方法.根据CFX计算结果,用最小二乘法参数辨识方法辨识出定常滑翔运动的水动力参数.简化了空间螺旋回转运动过程,通过CFX水动力计算方法进行回转特性分析,估算回转半径.
This paper describes the design of buoyancy adjusting mechanism, pitch adjusting mechanism and roll adjus- ting mechanism of an underwater glider, and analyzes the relationship between its movement mechanisms and motion performanee. The underwater glider motion performance is analyzed by a method using CFX hydrodynamic calculation software. The hydrodyrtamie parameters of constant gliding motion are identified with least square method based on CFX calculation resuits. The space helix turning motion is simplified, and a method for analyzing the turning characteristics and estimating the turning circle radius with CFX hydrodynamic calculation is oresented.
出处
《机器人》
EI
CSCD
北大核心
2005年第5期390-395,共6页
Robot
基金
国家自然科学基金资助项目(60405010)
辽宁省自然科学基金资助项目(20041025)
