旋转式水下机器人的空间运动方程

详细信息

SPACE MOTION EQUATIONS FOR SAUV

摘要: 本文提出了一种旋转自主式水下机器人的构想，简要说明了其系统结构和工作原理，分析了其在空间运动中所受力和力矩的情况，推导出其空间运动方程．通过计算机仿真对所推导的水下机器人空间运动方程进行了验证．
- 旋转式水下机器人 /
- 坐标系 /
- 坐标变换 /
- 运动方程
Abstract: In this paper, the conception of spinning autonomous underwater vehicle (SAUV) is presented, and its system structure and working principle are briefly illustrated simply. The SAUV’s space motion equations are deduced, which is based on the analysis of the force and moment put on it during SAUV’s moving. The equations are demonstrated through computer simulation experiment.
- SAUV /
- coordinate system /
- coordinate transform /
- motion equation