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Home » Issues » Archive of Issues » 2015 - 4 issue » pp. 544-553

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Russia Izhevsk
Year
2015
Volume
25
Issue
4
Pages
544-553
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Section Mechanics
Title A model of a screwless underwater robot
Author(-s) Vetchanin E.V.ab, Karavaev Yu.L.ab, Kalinkin A.A.a, Klekovkin A.V.a, Pivovarova E.N.ab
Affiliations Izhevsk State Technical Universitya, Udmurt State Universityb
Abstract The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.
Keywords mobile robot, screwless underwater robot, movement in ideal fluid
UDC 531.31, 517.912
MSC 70Hxx, 70G65
DOI 10.20537/vm150411
Received 4 November 2015
Language Russian
Citation Vetchanin E.V., Karavaev Yu.L., Kalinkin A.A., Klekovkin A.V., Pivovarova E.N. A model of a screwless underwater robot, Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2015, vol. 25, issue 4, pp. 544-553.
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