Journal of South China University of Technology (Natural Science Edition) ›› 2010, Vol. 38 ›› Issue (8): 66-71.doi: 10.3969/j.issn.1000-565X.2010.08.013

• Mechanical Engineering • Previous Articles     Next Articles

Dynamic Analysis of Submersible In-Pipe Robot

Zhao Da-xu 1.2  Chen Bai 1.2  Wu hong-tao 1.2  Tian Fu-yang 1.2   

  1. 1. Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China; 2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China
  • Received:2009-10-28 Revised:2009-12-17 Online:2010-08-25 Published:2010-08-25
  • Contact: 陈柏（1978-），男，副教授，主要从事机器人研究．E-mail：chenbye@126．Com. E-mail:daxu@nuaa．edu.cn
  • About author:赵大旭（1974-），男，博士生，主要从事机器人研究．
  • Supported by:

    国家自然科学基金资助项目（50605033）;南京航空航天大学基本科研业务费专项科研项目（NS2010119）

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Abstract:

According to the force conditions of a submersible robot swimming in a fully-filled pipe, a dynamic model describing the 6-DOF （ Degree of Freedom） spatial motion of the robot is established based on Euler parameters （quaternion）. Then, for a robot swimming along the planned trajectory in a specific three-dimension pipeline, the fluid resistance is calculated with the CFD simulation software Fluent and is substituted into the proposed model to obtain the forces of the robot in the Mathematica environment. Moreover, a dynamic simulation utilizing the proposed model is performed to obtain the needed driving force when the robot swims in a determined crooked pipeline. With the use of Euler parameters （ quaternion）, singularities are effectively avoided.

Key words: micro swimming robot, pipe, dynamic model, fluid resistance, simulation