| 可着陆式水下机器人的多体动力学建模与仿真 |
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| 引用本文： | 张宏伟,侯巍,王晓鸣,王树新,梁捷.可着陆式水下机器人的多体动力学建模与仿真[J].海洋技术,2006,25(4):6-10. |
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| 作者姓名： | 张宏伟 侯巍 王晓鸣 王树新 梁捷 |
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| 作者单位： | 1. 天津大学机械学院,天津,300072
2. 国家海洋技术中心,天津,300111 |
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| 基金项目： | 国家高技术研究发展计划(863)资助项目(2001AA632010) |
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| 摘 要： | 可着陆式水下机器人由于变浮力机构的设计要求,其外形与结构较之传统的水下航行器更为复杂。在设计阶段对可着陆式水下机器人进行仿真和操纵性分析具有重要意义。文中采用多体系统动力学方法分析可着陆式水下机器人动力学特性,将作用在系统各组成部分上的流体动力、推进力以及其它作用力分别计算和考虑,建立了多体动力学模型,并进行了三维空间运动仿真。该方法为具有较复杂附体结构的水下机器人设计和动力学仿真提供了有效途径。
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| 关 键 词： | 可着陆式水下机器人 多体系统动力学 操纵性 |
| 文章编号： | 1003-2029（2006）04-0006-05 |
| 收稿时间： | 2006-07-03 |
| 修稿时间： | 2006-07-03 |
The Multibody Modeling and Dynamic Simulation of the AUV with the Capacity of Soft Landing |
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| ZHANG Hong-wei,HOU Wei Shu-xin,WANG Xiao-ming,WANG Shu-xin,LIANG jie.The Multibody Modeling and Dynamic Simulation of the AUV with the Capacity of Soft Landing[J].Ocean Technology,2006,25(4):6-10. |
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| Authors: | ZHANG Hong-wei HOU Wei Shu-xin WANG Xiao-ming WANG Shu-xin LIANG jie |
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| Institution: | 1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China; 2. National Ocean Technology Center, Tianjin 3001111, China |
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| Abstract: | The AUV with the capacity of soft landing and bottom-sitting is more complicated than conventional AUVs in shape and construction.The dynamics modeling and simulation of the AUV for landing is important in the process of design and the analysis of maneuverability.In this paper,the method of multibody system dynamics is applied to the analysis of this kind of AUV,the forces acted on each section of AUV are considered and computed respectively,and the multibody system dynamic model is derived.At last the dynamic simulation based on this model in three dimension is presented.This method is helpful for the design and dynamic simulation of the AUV with complex shape and construction. |
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| Keywords: | AUV soft landing multibody system dynamics maneuverability |
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