2015

• 1.

  Vetchanin  E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N.

  A model of a screwless underwater robot
  Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
  Abstract          pdf  (308.24 Kb)

  The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.

  
  

  Keywords:	mobile robot, screwless underwater robot, movement in ideal fluid
  Citation:	Vetchanin  E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N., A model of a screwless underwater robot, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
  Full text:	pdf (308.24 Kb)

  Journal Info

  Impact-factor RSCI (2014):	0.371
  ISSN (print):	1994-9197
  ISSN (online):	2076-5959
  Site:	http://vst.ics.org.ru