TY - GEN
T1 - Hydrodynamic analysis of a novel thruster for amphibious sphere robots
AU - Hou, Xihuan
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Xing, Huiming
AU - Su, Shuxiang
AU - Chen, Zhan
AU - Liu, Yu
AU - Liu, Huikang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - Four novel thrusters as the actuator of amphibious spherical robots play an important role. The resultant force of four thrusters is the main driving force of the robot. In order to achieve better control of the amphibious spherical robots, it is necessary to analyze the effects on the propelling force of the novel thruster. This paper utilize Computational Fluid Dynamics (CFD) to simulate hydrodynamic behavior of the new thruster and analyze the thrust force with different rotating velocity and inlet velocity. Further, as the inlet velocity is susceptible by the rotating velocity, we defined advanced coefficient with inlet velocity and rotating velocity. We analyze the thrust force and efficiency with different advanced coefficients. The result shows that the thrust force is more sensitive to rotating velocity of blades than the inlet velocity. The curves also show that the efficiency traces a downward parabola with the advanced coefficient. According to the simulation results, I should keep the advanced coefficient at 0.6 as our best as possible to take full use of the energy. Thus, these results provide foundation for the mathematical model building.
AB - Four novel thrusters as the actuator of amphibious spherical robots play an important role. The resultant force of four thrusters is the main driving force of the robot. In order to achieve better control of the amphibious spherical robots, it is necessary to analyze the effects on the propelling force of the novel thruster. This paper utilize Computational Fluid Dynamics (CFD) to simulate hydrodynamic behavior of the new thruster and analyze the thrust force with different rotating velocity and inlet velocity. Further, as the inlet velocity is susceptible by the rotating velocity, we defined advanced coefficient with inlet velocity and rotating velocity. We analyze the thrust force and efficiency with different advanced coefficients. The result shows that the thrust force is more sensitive to rotating velocity of blades than the inlet velocity. The curves also show that the efficiency traces a downward parabola with the advanced coefficient. According to the simulation results, I should keep the advanced coefficient at 0.6 as our best as possible to take full use of the energy. Thus, these results provide foundation for the mathematical model building.
KW - Amphibious sphere robot
KW - Computational fluid dynamics (CFD)
KW - Thrust force
KW - Water-jet thruster
UR - http://www.scopus.com/inward/record.url?scp=85056346580&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484699
DO - 10.1109/ICMA.2018.8484699
M3 - Conference contribution
AN - SCOPUS:85056346580
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 1603
EP - 1608
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -