B.A. Smolnikov
PhD in Physics and Mathematics, Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Professor, Senior Research Scientist, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The work discusses basic principles of traction efforts creating in the aquatic environment allowing not only to ensure the marching motion of the underwater vehicle but also to make small maneuvering turns and displacements. An example of such regimes in terrestrial conditions is the wave motions of separate body supporting elements experiencing reactions of non-holonomic constraints. These reactions can create both a racing marching effort and small maneuvering forces to provide the necessary turns and slews. An illustration of this principle of motion is the skateboarder's movement mechanics and skater's racing. A kinematic scheme of a kind of «automobile» can be constructed on the same principle of the non-holonomic racing. However, the most interesting is the use of non-holonomic maneuvering for underwater hydro-robots using a fin thruster for maneuvers and screw thruster for the marching motion.
Key words
Hydro-robot, non-holonomic racing, fin thruster, maneuvering.
Bibliographic description
Smolnikov, B. (2017). Biomechanical Principles of Hydro-Robot Maneuvering in the Aquatic Environment. Robotics and Technical Cybernetics, 2(15), pp.57-61
UDC identifier
532.5.013:007.52
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