田宝强, 俞建成, 张艾群, 金文明, 赵文涛, 陈质二. 波浪驱动无人水面机器人运动效率分析[J]. 机器人, 2014, 36(1): 43-48,68. DOI: 10.3724/SP.J.1218.2014.00043
引用本文: 田宝强, 俞建成, 张艾群, 金文明, 赵文涛, 陈质二. 波浪驱动无人水面机器人运动效率分析[J]. 机器人, 2014, 36(1): 43-48,68. DOI: 10.3724/SP.J.1218.2014.00043
TIAN Baoqiang, YU Jiancheng, ZHANG Aiqun, JIN Wenming, ZHAO Wentao, CHEN Zhi'er. Analysis on Movement Efficiency for Wave Driven Unmanned Surface Vehicle[J]. ROBOT, 2014, 36(1): 43-48,68. DOI: 10.3724/SP.J.1218.2014.00043
Citation: TIAN Baoqiang, YU Jiancheng, ZHANG Aiqun, JIN Wenming, ZHAO Wentao, CHEN Zhi'er. Analysis on Movement Efficiency for Wave Driven Unmanned Surface Vehicle[J]. ROBOT, 2014, 36(1): 43-48,68. DOI: 10.3724/SP.J.1218.2014.00043

波浪驱动无人水面机器人运动效率分析

Analysis on Movement Efficiency for Wave Driven Unmanned Surface Vehicle

  • 摘要: 以波浪驱动无人水面机器人(WUSV)的运动效率为研究对象,首先分析了该机器人的驱动原理,并推导了驱动力的计算公式.然后,结合波 浪理论从能量转化角度建立了运动效率分析模型.最后通过波浪驱动无人水面机器人实验平台,分析和计算了波高、波浪周期和翼板旋角对运动 效率的影响,这为WUSV的动力学建模和效率优化分析提供理论基础和设计依据.

     

    Abstract: This paper focuses on the movement efficiency of wave-driven unmanned surface vehicle (WUSV). Firstly, the driving principle of WUSV is analyzed and the formula for calculating the driving force is derived. Then, combined with the wave theory, the model of movement efficiency is established from the perspective of energy conversion. Finally, the effects of wave height, wave period and wing rotation angle on the movement efficiency are analyzed and calculated through the experimental platform of WUSV, which provides the foundation and basis for further study in the dynamics model and efficiency optimal analysis of WUSV.

     

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