收稿日期: 2019-01-11
网络出版日期: 2019-07-05
基金资助
国家自然科学基金资助项目(U1613226);国家自然科学基金面上资助项目(61673254)
Hydrodynamic modeling of an eccentric paddle mechanism with rotational paddling gait
Received date: 2019-01-11
Online published: 2019-07-05
李小毛, 彭宇, 李天波, 陈俊杰, 徐佳, 崔建祥 . 偏心桨机构水下旋转桨式步态水动力建模[J]. 上海大学学报(自然科学版), 2020 , 26(6) : 884 -895 . DOI: 10.12066/j.issn.1007-2861.2167
In previous work, an eccentric paddle (ePaddle) mechanism has been proposed to improve the mobility of amphibious robot under challenging environments, which can execute various terrestrial and aquatic gaits. In this paper, to investigate the hydrodynamic characteristics of rotational paddling gait, a hydrodynamic model is presented based on Morison equation for analyzing the effects on thrust characteristics with different configuration of parameters such as slip ratio, eccentric distance, etc. The accuracy of the model has been verified by the experiments. Based on the theoretical model and experimental results, the reasonable application suggestions for the rotational paddling gait of the ePaddle are presented.
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