TY - GEN
T1 - Performance evaluation of a multi-vectored water-jet propellers device for an amphibious spherical robot
AU - Xing, Huiming
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Hou, Xihuan
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 - This paper presents a performance evaluation of the multi-vectored water-jet propellers system (MVWPS) for the amphibious spherical robot IV (ASR-IV), which will contribute to the real-time dynamic thrust vectoring of ASR-IV. This work extends the 2D modeling into 3D space, which benefits the 4DoFs control of ASR-IV more. The dynamic modeling (forces and moments) of ASR-IV can be obtained by synthesizing the propulsive vectors of four propellers. Thus, a novel experimental mechanism was developed to evaluate the MVWPS. This mechanism was designed with the mass distribution centered for the robot. Using a six-axis force/torque sensor at the equivalent mass center, we obtained the direct propulsive effect of the system for the robot. Experiments of one propeller were conducted to establish the relationship between the pulse width module (PWM) signal and the thrust. Then, experiments of MVWPS were carried out to evaluate the performance of MVWPS.
AB - This paper presents a performance evaluation of the multi-vectored water-jet propellers system (MVWPS) for the amphibious spherical robot IV (ASR-IV), which will contribute to the real-time dynamic thrust vectoring of ASR-IV. This work extends the 2D modeling into 3D space, which benefits the 4DoFs control of ASR-IV more. The dynamic modeling (forces and moments) of ASR-IV can be obtained by synthesizing the propulsive vectors of four propellers. Thus, a novel experimental mechanism was developed to evaluate the MVWPS. This mechanism was designed with the mass distribution centered for the robot. Using a six-axis force/torque sensor at the equivalent mass center, we obtained the direct propulsive effect of the system for the robot. Experiments of one propeller were conducted to establish the relationship between the pulse width module (PWM) signal and the thrust. Then, experiments of MVWPS were carried out to evaluate the performance of MVWPS.
KW - Amphibious Spherical Robot
KW - Multi-vectored water-jet propellers system
KW - The force
KW - Torque testing mechanism
UR - https://www.scopus.com/pages/publications/85056323481
U2 - 10.1109/ICMA.2018.8484441
DO - 10.1109/ICMA.2018.8484441
M3 - Conference contribution
AN - SCOPUS:85056323481
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 1591
EP - 1596
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 -