TY  - JOUR
AU  - XU, Pengfei
AU  - LYU, Tao
AU  - GE, Tong
AU  - CHENG, Hongxia
AU  - ZHAO, Min
PY  - 2022
TI  - Rolling test and dynamics simulation of spherical underwater vehicle
JO  - Chinese Journal of Ship Research
SN  - 1673-3185
SP  - 216
EP  - 222
VL  - 17
IS  - 6
AB  - ObjectivesIn order to investigate the rolling-forward law of a spherical underwater vehicle and the influence of mass distribution on its motion, this study carries out the innovative design and analysis of its mechanical mechanism. MethodsFirst, a dynamic model of the rolling-forward motion is established using the Newton-Euler method. The influence of mass distribution on its motion is then analyzed through the ground test and underwater hydrodynamics theory. Finally, by building a simulation environment and virtual prototype, the rolling dynamics of the vehicle underwater and on land are compared and analyzed. ResultsThe results show that when the built-in driving unit rotates constantly, the speed of the vehicle fluctuates and the swing angle of the built-in driving unit also alters periodically. When the driving weight is increased, the period and amplitude of swing angle become smaller, and the rolling-forward motion becomes more stable. ConclusionsThe results of this paper can provide guidance for the further optimization of spherical underwater vehicles.
UR  - https://doi.org/10.19693/j.issn.1673-3185.02583
DO  - 10.19693/j.issn.1673-3185.02583