@article{XU2022, 
author = {Pengfei XU and Tao LYU and Tong GE and Hongxia CHENG and Min ZHAO},
title = {Rolling test and dynamics simulation of spherical underwater vehicle},
year = {2022},
journal = {Chinese Journal of Ship Research},
volume = {17},
number = {6},
pages = {216-222},
keywords = {spherical underwater vehicle, rolling test, dynamics model, motion simulation},
url = {https://www.sciopen.com/article/10.19693/j.issn.1673-3185.02583},
doi = {10.19693/j.issn.1673-3185.02583},
abstract = {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.}
}