一种八推进器水下机器人动力学分析

Dynamics Analysis of an Eight-thruster Underwater Robot

摘要:

随着对水下机器人研究的逐步深入，其运动能力已由早期单纯的平动逐步强化为有多个自由度的空间运动，对其进行动力学研究是进行其它方面能力研究的基础。为研究多自由度水下机器人的运动，对某型八推进器水下机器人进行了动力学方程建模，得出了其在6个自由度上的运动方程，在此基础上，对其进行了运动仿真及性能分析，得到了该型水下机器人在6个自由度上的运动性能。通过仿真计算的结果，可以直观地了解其运动能力。

Abstract:

With the further development of the research on the underwater robot，its motion ability has been gradually strengthened from the simple translation in the early stage to the space motion with multiple degrees of freedom，and the study of dynamics is the basis of the study of other abilities. In order to study the motion of a multi degrees of freedom underwater robot，the dynamic equation of a certain type of eight-thruster underwater robot is modeled，and its motion equation on 6 degrees of freedom is obtained. On this basis，the motion simulation and performance analysis are carried out，and the motion performance of the underwater robot in 6 degrees of freedom is obtained. Through the result of simulation，its movement ability is understood intuitively.