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介绍了一种具有基本航行能力且可扩展其他功能的模块化水下机器人.利用3维设计软件Solidworks及计算流体力学软件CFX对外形进行分析优化,降低水下机器人的功耗;对各功能舱段及段与段的连接形式采用模块化设计,结构简单,便于更换维修;此外还对耐压壳体强度及稳定性进行了理论计算及软件仿真.湖试证明,该水下机器人利用自身携带的传感器可以完成基本航行功能,包括自主定向航行、自主定速航行、自主定深航行、位置闭环航行等功能.
A kind of modularized underwater robot with basic navigation ability and other functions that can be expanded is introduced.On the basis of analysis and optimization of 3D shape design software Solidworks and computational fluid dynamics software CFX to reduce the power consumption of underwater robots, The connection between segment and segment adopts modular design, which is simple in structure and easy to replace and repair. In addition, theoretical calculation and software simulation of strength and stability of pressure hull are carried out. The lake test proves that this underwater robot uses its own carrying The sensors can perform basic navigation functions, including autonomous directional navigation, autonomous fixed-speed navigation, autonomous deep-sea navigation, closed-loop position navigation and other functions.