Title: Preliminary concept of a novel spherical underwater robot

Authors: Yaxin Li; Shuxiang Guo; Chunfeng Yue

Addresses: Graduate School of Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0396, Japan ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0396, Japan; Harbin Engineering University, Nangang District, Harbin, Heilongjiang Province, 150001, China ' Graduate School of Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0396, Japan

Abstract: This paper describes the preliminary concept of a novel spherical underwater robot (SUR). The novel SUR employs a spherical hull and equipped with multiple vectored water-jet-based thrusters. This paper focuses on the preliminary design of the novel spherical underwater robot's structure. Based on the structure, the finite element analysis is used to test the strength of structure and the feasibility of the concept. Meanwhile, the simulation of the robot's dynamics and kinematics is also finished to verify the stabilisation and validity of the new structure. On the basis of the structural characteristics of the spherical robot, its dynamic model is derived by applying the Lagrange-Routh equations briefly. A 3D model of robot is built by CATIA and finite element method is applied base on the model. Then the model is exported to ADAMS for simulation. The results of simulation by combining MATLAB/Simulink with ADAMS are presented. The simulation results indicate that the proposed virtual prototype system has the capability of simulative demonstration and performance validation, and can provide an innovative approach for AUV graphic simulation.

Keywords: spherical underwater robots; SURs; spherical robots; FEA; finite element analysis; simulation; robot kinematics; virtual prototypes; autonomous underwater vehicles; AUVs; robot design; robot dynamics; dynamic modelling; 3D modelling.

DOI: 10.1504/IJMA.2015.068449

International Journal of Mechatronics and Automation, 2015 Vol.5 No.1, pp.11 - 21

Received: 10 Oct 2014
Accepted: 17 Nov 2014
Published online: 03 Apr 2015 *

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