机器人2016，Vol.38Issue(4)：395-401,7.DOI:10.13973/j.cnki.robot.2016.0395
模块化自主水下机器人的机械设计与实现
Mechanical Design and Implementation of a Modular Autonomous Underwater Vehicle
摘要
Abstract
A modular autonomous underwater vehicle is introduced, which has basic navigation ability and can realize other functions through extending. 3D parametric design software Solidworks and computational fluid dynamics software CFX are used to analyze and optimize the shape, which can reduce the power consumption. Modular design is adopted in every function module and the connection form between two sections, which simplifies the structure and makes maintenance easy. In addition, the theoretical calculation and software simulation are performed on the strength and stability of pressure hull. Lake tests prove that the autonomous underwater vehicle can complete basic navigation functions with their own sensors, such as independent constant-orientation sailing, independent constant-speed sailing, independent depth-keeping sailing and position closed-loop sailing.关键词
自主水下机器人/模块化/外形设计/结构设计Key words
autonomous underwater vehicle/modularization/shape design/structure design分类
信息技术与安全科学引用本文复制引用
孟令帅,林扬,郑荣,徐红丽,谷海涛,贾庆勇..模块化自主水下机器人的机械设计与实现[J].机器人,2016,38(4):395-401,7.基金项目
中国科学院国防科技创新基金（CXJJ-15M031）；辽宁省自然科学基金（2015010160-301）． （）
