ArticleSensors (Basel, Switzerland)2019
Hydrodynamic Analysis-Based Modeling and Experimental Verification of a New Water-Jet Thruster for an Amphibious Spherical Robot.
Article in Sensors (Basel, Switzerland), 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Design, Dynamic Modeling, and Motion Analysis of a Frog-Inspired Hybrid-Driven Amphibious Robot.Sensors (Basel, Switzerland) · 2026Article
- Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot.Micromachines · 2022Article
- A Magnetically Capsule Robot for Biomedical Application.Applied bionics and biomechanics · 2022Article
- Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots.Micromachines · 2020Article
- Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots.Sensors (Basel, Switzerland) · 2019Article
Corrections and comments
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Authors and funding
9 authors.
Funding
Abstract
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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Registered trials
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