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首页> 外文期刊>Journal of robotics and mechatronics >Experimental Verification of Lifting Force of Underwater Robot with Thrusters Using Passive Posture Maintenance
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Experimental Verification of Lifting Force of Underwater Robot with Thrusters Using Passive Posture Maintenance

机译：被动姿态维持法水下推进器水下机器人提升力的实验验证

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摘要

An underwater robot is developed that can be used for environmental protection work in the sea near Okinawa (e.g., removing crown-of-thorns starfish). When a submerged object is raised with the aid of an underwater robot, the conventional method of using fixed thrusters presents difficulties in raising the object straight upward because of the change in. the robot's attitude. Therefore, we propose "thrusters that employ a passive posture maintenance mechanism." By using this mechanism, the vertical thrusters are able to maintain an upward posture, and the underwater robot is able to raise a submerged object straight upward relatively easily. Moreover, the attitude stability of an underwater robot and the work efficiency of its thrusters are important in water. Hence, we examine the attitude stability and the efficiency of the lifting force of an underwater robot using our proposed passive fixed mechanism for thrusters. We describe the design and fabrication of the proposed mechanism and experimentally verify the effectiveness of our proposed mechanism.
机译：开发了一种水下机器人，该机器人可用于冲绳附近海域的环境保护工作（例如，去除荆棘冠海星）。当借助于水下机器人抬高被淹没的物体时，由于机器人的姿势改变，使用固定推进器的传统方法在将物体笔直向上抬起方面存在困难。因此，我们提出“采用被动姿势维持机制的推进器”。通过使用该机构，垂直推进器能够保持向上的姿势，并且水下机器人能够相对容易地将被淹没的物体竖直向上提升。此外，水下机器人的姿态稳定性及其推进器的工作效率在水中很重要。因此，我们使用提出的被动式推进器固定机构研究了水下机器人的姿态稳定性和提升力的效率。我们描述了提出的机制的设计和制造，并通过实验验证了我们提出的机制的有效性。

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