Design and Development of Small Spherical Underwater Observation Robot

doi:10.3901/JME.2020.13.103

Abstract

Abstract: According to the demand of underwater information acquisition and environmental observation, a spherical underwater robot is proposed based on compression, rotational resistance and attitude control. A propeller, attitude adjusting and composite rolling device form an under-actuated and six-degree-of-freedom underwater mobile platform. Spherical shell can protect the internal electronics and achieve underwater rolling with heavy pendulums. The hydrodynamic coefficients are obtained by simulating and calculating, and the dynamic equation is established. Furthermore, propulsion, steering and rolling are analyzed, and optimal dimensions, flywheel inertia and rolling characteristics are obtained. The system architecture is integrated based on the robot and software interface, and the robot prototype is developed. According to the robot characteristics, a three-stage observation strategy of landing, rolling and posture adjustment is developed. The pool experiment shows that the designed spherical robot can reach a propulsion speed of 1.4 m/s, a rolling speed of 0.5 m/s, and an attitude adjusting speed of 30°/s. The image was taken at the bottom of the water, which can assist researchers to perform underwater observation tasks.

Key words: underwater robot, spherical robot, motion characteristics, underwater observation, image acquisition

CLC Number:

TH113

LI Yansheng, SUN Hanxu. Design and Development of Small Spherical Underwater Observation Robot[J]. Journal of Mechanical Engineering, 2020, 56(13): 103-109.

References

[1] LIU Shaojun,HU Jianhua,ZHANG Ruiqiang,et al. Development of mining technology and equipment for seafloor massive sulfide deposits[J]. Chinese Journal of Mechanical Engineering,2016,29(5):10-17.
[2] WANG Shuxin,SUN Xiujun,WANG Yanhui. Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider[J]. China Ocean Engineering. 2011,25(1):97-112.
[3] MEINIG C,LAWRENCE-SLAVAS N,JENKINS R,et al. The use of saildrones to examine spring conditions in the Bering Sea:Vehicle specification and mission performance[C]//Oceans. Washington:IEEE,2016:1-7.
[4] TOWNSEND N C. Self-powered autonomous underwater vehicles:Results from a gyroscopic energy scavenging prototype[J]. IET Renewable Power Generation,2016,10(8):1078-1086.
[5] YU Zhenjiang,ZHENG Zhongqiang,YANG Xiaoguang,et al. Dynamic analysis of propulsion mechanism directly driven by wave energy for marine mobile buoy[J]. Chinese Journal of Mechanical Engineering,2016,29(4):710-715.
[6] 田宝强,俞建成,张艾群,等. 波浪驱动无人水面机器人运动效率分析[J]. 机器人,2014,36(1):43-48,68. TIAN Baoqiang,YU Jiancheng,ZHANG Aiqun,et al. Analysis on movement efficiency for wave driven unmanned surface vehicle[J]. Robot,2014,36(1):43-48,68.
[7] 牛文栋,王延辉,杨艳鹏,等. 混合驱动水下滑翔机水动力参数辨识[J]. 力学学报,2016,48(4):813-822. NIU Wendong,WANG Yanhui,YANG Yanpeng,et al. Hydrodynamic parameter identification of hybrid-driven underwater glider[J]. Chinese Journal of Theoretical and Applied Mechani,2016,48(4):813-822.
[8] CHAO Yi. Autonomous underwater vehicles and sensors powered by ocean thermal energy[C]//Conference on Oceans. Shanghai:IEEE,2016:1-4.
[9] 战强,李伟. 球形移动机器人的研究进展与发展趋势[J]. 机械工程学报,2019,55(9):1-17. ZHAN Qiang,LI Wei. Research progress and develop-ment trend of spherical mobile robots[J]. Journal of Mechanical Engineering,2019,55(9):1-17.
[10] 张胜,方向,赵志成,等. 基于反馈线性化的软壳体球形机器人纵向运动控制[J]. 机械工程学报,2017,53(3):43-50. ZHANG Sheng,FANG Xiang,ZHAO Zhicheng,et al. Longitudinal motion controlling for a spherical rolling robot with soft shell based on feedback linearization[J]. Journal of Mechanical Engineering,2017,53(3):43-50.
[11] 李勋,王亚彪,黄荣辉,等. 油浸式变压器内部检测机器人结构设计与分析[J]. 机械工程师,2017(3):35-38. LI Xun,WANG Yahu,HUANG Ronghui,et al. Structure design and analysis of oil-immersed transformer internal inspection robot[J]. Mechanical Engineer,2017(3):35-38.
[12] CHOI H T,HANAI A,CHOI S K. Development of an underwater robot,ODIN-III[C]//IEEE International Con-ference on Intelligent Robots and Systems. Las Vegas:IEEE,2003:836-841.
[13] SIMON A W,DOMINIC J P C,PETER N G. The design and technical challenges of a micro-autonomous under-water vehicle (μAUV)[C]//Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation. Beijing:IEEE,2011:567-572.
[14] LIN Xichuan,GUO Shuxiang. Development of a spherical underwater robot equipped with multiple vectored water-jet-based thrusters[J]. Journal of Intelligent & Robotic Systems,2012,67(3):307-321.
[15] 兰晓娟,孙汉旭,贾庆轩,等. 水下球形机器人BYSQ-2型的结构设计与优化[J]. 北京邮电大学学报,2012,35(4):11-14,23. LAN Xiaojuan,SUN Hanxu,JIA Qingxuan,et al. Design and optimization of a spherical underwater vehicle BYSQ-2's structure[J]. Journal of Beijing University of Posts and Telecommunications,2012,35(4):11-14,23.
[16] 李艳生,孙汉旭,贾庆轩,等. 一种摆式球形水下机器人水底滚动特性分析[J]. 中南大学学报,2016,47(11):3664-3669. LI Yansheng,SUN Hanxu,JIA Qingxuan,et al. Analysis of rolling characteristics at water bottom for spherical robot with heavy pendulums[J]. Journal of Central South University,2016,47(11):3664-3669.
[17] 李艳生,杨美美,孙汉旭,等.一种摆式球形机器人水中俯仰运动的稳定控制方法[J]. 振动与冲击,2018,37(13):149-154,189. LI Yansheng,YANG Meimei,SUN Hanxu,et al. A stability control method for pitching motion in water of a pendulum type spherical robot[J]. Journal of Vibration and Shock,2018,37(13):149-154,189.
[18] 兰晓娟,孙汉旭,贾庆轩. 水下球形机器人BYSQ_2的原理与动力学分析[J]. 北京邮电大学学报,2010,33(3):20-23. LAN Xiaojuan,SUN Hanxu,JIA Qingxuan. Principle and dynamic analysis of a new-type spherical underwater vehicle[J]. Journal of Beijing University of Posts and Telecommunications,2010,33(3):20-23.
[19] 李艳生,杨美美,芦娜,等. 同心连接器的力学性能测试技术和系统研究[J]. 仪器仪表学报,2017,38(2):328-335. LI Yansheng,YANG Meimei,LU Na,et al. Research on testing technology and system of mechanical properties for a concentric connector[J]. Chinese Journal of Scientific Instrument,2017,38(2):328-335.