| 一种模态切换水下机器人设计与模型实验研究 |
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| 引用本文： | 王志东,窦京,李洋,凌宏杰,曾庆军,睢翔,张明.一种模态切换水下机器人设计与模型实验研究[J].船舶工程,2015,37(2):85-88. |
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| 作者姓名： | 王志东 窦京 李洋 凌宏杰 曾庆军 睢翔 张明 |
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| 作者单位： | 江苏科技大学 船舶与海洋工程学院,江苏科技大学 船舶与海洋工程学院,江苏科技大学 船舶与海洋工程学院,江苏科技大学 船舶与海洋工程学院,江苏科技大学 电子信息学院,江苏科技大学 电子信息学院,江苏科技大学 电子信息学院 |
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| 基金项目： | 江苏省产学研联合创新资金——前瞻性联合研究项目(BY2012181) |
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| 摘 要： | 针对现有水下机器人模态(航态)单一的不足,完成了一种新型开架式模态切换水下机器人(MC-ROV)的总体设计方案,提出了ROV浮游与爬行模态切换方法,可实现浮游与爬行清污作业的自由切换,完成了ROV样机的装配,并进行了陆上系统测试、水密性测试、整体平衡实验。在此基础上开展了下水试航实验,实现了视频捕获、直航、回转、潜浮等功能,完成了推进系统的推力测试,测试数据为进一步开展MC-ROV操控性能的研究提供了理论参考和试验数据。
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| 关 键 词： | MC-ROV 模态切换 系统测试 水下试验 推力测试 |
| 收稿时间： | 2014/6/10 0:00:00 |
| 修稿时间： | 8/9/2014 12:00:00 AM |
OVERALL DESIGN AND MODEL INVESTIGATION OF A MODE CONVERSION UNDERWATER REMOTELY OPERATED VEHICLE |
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| WANG Zhidong,DOU Jing,LI Yang,LING Hongjie,Zeng Qingjun,Sui Xiang and Zhang Ming.OVERALL DESIGN AND MODEL INVESTIGATION OF A MODE CONVERSION UNDERWATER REMOTELY OPERATED VEHICLE[J].Ship Engineering,2015,37(2):85-88. |
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| Authors: | WANG Zhidong DOU Jing LI Yang LING Hongjie Zeng Qingjun Sui Xiang and Zhang Ming |
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| Institution: | School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,,, |
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| Abstract: | This paper presents the overall design and method of mode conversion of a new open-frame Mode Conversion underwater Remotely Operated Vehicle(MC-ROV) which can easily and quickly convert between swimming mode and crawling model,the designed ROV prototype is assembled and performed onshore system test,watertight test and overall balance test. On this basis,the tested ROV prototype is performed underwaterSfunctionSverification experiment and thruster system test,the underwaterSfunctionSverification experiment contains photographing test,navigating test,turning test and diving test,the data of thruster system test provides theStheoreticalSreference and experiment foundation for the further investigation of its control performance. |
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| Keywords: | MC-ROV mode conversion system test underwater experiment thrust test |
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