期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 1, 页码 217-226出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2016.2623278
关键词
Aquatic robots; aerospace engineering; pneumatic systems
类别
资金
- U.K. Engineering and Physical Sciences Research Council
- EPSRC [EP/N009061/1, EP/N018494/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [1676886, EP/N018494/1, EP/N009061/1, 1531698] Funding Source: researchfish
The ability to collect water samples rapidly with aerial-aquatic robots would increase the safety and efficiency of water health monitoring and allow water sample collection fromdangerous or inaccessible areas. An aquatic micro air vehicle (AquaMAV) able to dive into the water offers a low cost and robust means of collecting samples. However, small-scale flying vehicles generally do not have sufficient power for transition to flight from water. In this paper, we present a novel jet propelled AquaMAV able to perform jumpgliding leaps from water and a planar trajectory model that is able to accurately predict aquatic escape trajectories. Using this model, we are able to offer insights into the stability of aquatic takeoff to perturbations from surface waves and demonstrate that an impulsive leap is a robust method of flight transition. The AquaMAV uses a CO2 powered water jet to escape the water, actuated by a custom shape memory alloy gas release. The 100 g robot leaps from beneath the surface, where it can deploy wings and glide over the water, achieving speeds above 11 m/s.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据