Shape optimization of underwater robots based on resistance reduction

Minghui Zhang; Haijuan Shi; Shuai Meng; Yan-an Yao

doi:10.1117/12.2625313

12 December 2021 Shape optimization of underwater robots based on resistance reduction

Minghui Zhang, Haijuan Shi, Shuai Meng, Yan-an Yao

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271O (2021) https://doi.org/10.1117/12.2625313
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

If the robot wants to improve its work efficiency, it needs to minimize its resistance. A good shell shape can reduce its resistance at a certain extent. For the under water robot designed in this paper, under the condition that the water flow velocity is 0.5m/s and the elevation angle is 0°, the shape of the robot is constructed by three kinds of curves. And three kinds of robot shapes are obtained. These three kinds of curves are ordinary spline, Bezier curve and B-spline curve. The resistances of the three kinds of robots are calculated separately. The result shows that the shape of robot is constructed by B-spline curve design is the resistance least. To further study the B-spline curve, the robot model is constructed with the 3rd B-spline curve, the 4th B-spline curve and the 5th B-spline curve, separately. After calculation and comparison, it is found that the robot constructed by the 3rd B-spline curve is the resistance least, and finally the robot shape is constructed by the 3rd B-spline curve.

Citation Download Citation

Minghui Zhang, Haijuan Shi, Shuai Meng, and Yan-an Yao "Shape optimization of underwater robots based on resistance reduction", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271O (12 December 2021); https://doi.org/10.1117/12.2625313

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