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Researches on autonomous underwater robots have become a hot spot all around the world. Many different autonomous underwater robots have been developed. Our research is about the spherical underwater robots equipped with water-jet-based propulsion system. The propulsion system makes it more flexible when robots carry out motion in water. And we also develop multi-robot system to realize the cooperative and collaborative tasks in the water.
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・Spherical shape, water-jet propulsion system (The original concept of the research) ・Multi vectored water-jet-based propulsion system. ・Flexible motions in surge, heave and yaw. ・Modularity of components, easy to be assembled. ・Intelligent altitude control; intelligent cooperation.
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Structure of the robotic system |
The vectored water-jet-based propulsion system |
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We designed a master- slave structure for the control hardware. The master side response for strategies decision, and the slave side response for driving the actuators and sensors. This two-level hardware structure make it more efficient in motion control and sensors feedback, and also improve the controllability in real-time.
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The architecture of the control system
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Hardware and control system |
Basic motions |
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・Our goal is to make our robots can collaboratively carry our tasks. ・The robot can play a role of mother machine to carry those micro underwater robots.
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The collaborative observation |
Mother machine |
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Vertical Motion Experiment for Spherical Underwater Robot |
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horizontal motion experiments for spherical undwater robot: (a)linear motion |
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horizontal motion experiments for spherical undwater robot: (b) rotation 270 degree
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