Experiment, simulation and analysis on coupling hydrodynamic forces under key parameters for a spherical underwater exploration robot

摘要

As a novel underwater exploration robot, BYSQ-2 spherical robot uses the heavy pendulum to change the attitudes with the characteristics of small steering resistance and high compressive strength. However, the greater water resistance in the process of moving forward obstructs the rapid movement, because the robot has a spherical shell and only one propeller. The maximum speed was obtained only 0.6 m/s according to experimental tests and theoretical calculations. In order to improve the movement speed, the robot’s virtual assembly model was built to study the coupling hydrodynamic forces between the spherical shell and the propeller by CFD method. The coupling hydrodynamic forces were analyzed and summarized under different key structural parameters that include the pipe diameter and the shell diameter. Furthermore, in the conditions of different rotational speed, propeller thrust and water resistance of robot were simulated and calculated. According to the simulation results of the model with the appropriate structural parameters, it was demonstrated that the speed of the robot was improved obviously in the process of moving forward.