Journal
SENSORS
Volume 19, Issue 2, Pages -Publisher
MDPI
DOI: 10.3390/s19020259
Keywords
amphibious spherical robot; water-jet thruster; thrust; hydrodynamic analysis; thrust model; Computation Fluid Dynamic (CFD)
Funding
- National Natural Science Foundation of China [61773064, 61503028]
- Graduate Technological Innovation Project of Beijing Institute of Technology [2018CX10022]
- National High Tech
- Research and Development Program of China [2015AA043202]
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Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed in this paper. First, the hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. In particular, the hydrodynamics of the thruster were studied not only in the axial flow but also in oblique flow. Then, the basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Finally, a series of relevant experiments were conducted to verify the accuracy of the thrust model. These proved that the thrust model-based simulation results agreed well with the experimental results. The maximum error between the experimental results and simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots.
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