Paper Info
Title
Hydrodynamic Analysis-Based Modeling and Experimental Verification of a New Water-Jet Thruster for an Amphibious Spherical Robot.
Abstract
Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed in this paper. First, the hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. In particular, the hydrodynamics of the thruster were studied not only in the axial flow but also in oblique flow. Then, the basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Finally, a series of relevant experiments were conducted to verify the accuracy of the thrust model. These proved that the thrust model-based simulation results agreed well with the experimental results. The maximum error between the experimental results and simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots.
Year
DOI
Venue
2019
10.3390/s19020259
SENSORS
Keywords
Field
DocType
amphibious spherical robot,water-jet thruster,thrust,hydrodynamic analysis,thrust model,Computation Fluid Dynamic (CFD)
Reference frame,Motion control,Propeller,Aerospace engineering,Axial compressor,Spherical robot,Electronic engineering,Computational fluid dynamics,Engineering,Thrust,Actuator
Journal
Volume
Issue
ISSN
19
2
1424-8220
Citations 
PageRank 
References 
0
0.34
0
Authors
9
Name
Order
Citations
PageRank
Xihuan Hou101.01
Shuxiang Guo2391106.41
Liwei Shi3349.24
huiming xing422.38
Yu Liu541.09
Huikang Liu601.01
Yao Hu74317.26
Debin Xia801.01
Zan Li901.01