摘要
提出了由内部配重转动机构改变姿态的水下球形机器人BYSQ-2型的结构设计与优化方法.根据BYSQ-2型的构型方案与设计指标设计水下球形机器人的机械结构,在确定推进器的型号之后,首先根据海军部系数原则对导管内径尺寸进行优化设计;然后根据整体平衡原则进行结构对称性设计与配重质量优化设计;最后根据计算结果制作BYSQ-2型样机,样机水池实验结果表明其性能达到了设计要求.
The design and optimization method of a spherical underwater vehicle BYSQ-2＇s structure is presented. The vehicle＇s attitude can be changed by the inner steering mechanism. The structure of the vehicle is designed according to the configuration scheme and design index. After the thruster＇s type is chosen, the size of the pipe＇s inside diameter can be optimized by the admiralty coefficient law. Accord- ing to the whole machine balancing law, the structure is adjusted to achieve symmetry, and the counterweight＇s quality is optimized. The BYSQ-2＇s prototype is manufactured according to the conclu- sion, and the result of the experiment indicates that the prototype＇s performance achieves the design requirement.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2012年第4期11-14,23,共5页
Journal of Beijing University of Posts and Telecommunications
基金
国家自然科学基金项目(511750468)
高等学校博士学科点专项科研基金项目(200800130002)
关键词
水下球形机器人
构型
导管内径
配重质量
spherical underwater vehicle
configuration
the pipe＇s inside diameter
the counterweight＇s quality
