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On-line Access: 2022-10-20

Received: 2022-06-26

Revision Accepted: 2022-08-11

Crosschecked: 2022-10-21

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Zhiguo HE


Pengcheng JIAO


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Journal of Zhejiang University SCIENCE A 2022 Vol.23 No.10 P.820-831


Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method

Author(s):  Yang YANG, Yingzhong LOU, Guanzheng LIN, Zhiguo HE, Pengcheng JIAO

Affiliation(s):  Hainan Institute, Zhejiang University, Sanya 572000, China; more

Corresponding email(s):   hezhiguo@zju.edu.cn, pjiao@zju.edu.cn

Key Words:  Underwater vehicle, Computational fluid dynamics (CFD), Robotics, Transient driving method (TDM), Combustion actuation, Hydrodynamics

Yang YANG, Yingzhong LOU, Guanzheng LIN, Zhiguo HE, Pengcheng JIAO. Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method[J]. Journal of Zhejiang University Science A, 2022, 23(10): 820-831.

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journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method
%A Yang YANG
%A Yingzhong LOU
%A Guanzheng LIN
%A Zhiguo HE
%A Pengcheng JIAO
%J Journal of Zhejiang University SCIENCE A
%V 23
%N 10
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%@ 1673-565X
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200331

T1 - Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method
A1 - Yang YANG
A1 - Yingzhong LOU
A1 - Guanzheng LIN
A1 - Zhiguo HE
A1 - Pengcheng JIAO
J0 - Journal of Zhejiang University Science A
VL - 23
IS - 10
SP - 820
EP - 831
%@ 1673-565X
Y1 - 2022
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A2200331

underwater vehicles play important roles in underwater observation, ocean resource exploration, and sample collection. Soft robots are a unique type of underwater vehicles due to their good environmental adaptability and motion flexibility, although they are weak in terms of actuation and response ability. The transient driving method (TDM) was developed to resolve these shortcomings. However, the interaction between the robots’ swift motions and flow fields has not yet been fully studied. In this study, a computational fluid dynamic model is developed to simulate the fluid fields disturbed by transient high-speed motions generated by the robots. Focusing on the dependence of robot dynamics on thrust force and eccentricity, typical structures of both flow and turbulence fields around the robots are obtained to quantitatively analyze robot kinematic performance, velocity distribution, vortex systems, surface pressure, and turbulence. The results demonstrate the high-speed regions at the robots’ heads and tails and the vortex systems due to sudden expansion, indicating a negative relationship between the maximum fluid velocity and eccentricity. The reported results provide useful information for studying the environmental interaction abilities of robots during operating acceleration and steering tasks.


机构:1浙江大学,海南研究院,中国三亚,572000;2浙江大学,港口海岸与近海工程研究所,中国舟山,316021;3华盛顿大学,土木工程学院,美国西雅图,WA 98195;4浙江大学,海洋感知技术与装备教育部工程研究中心,中国舟山,316021;5香港中文大学,电子工程系,中国香港,99907


Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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