Open AccessNumerical simulation and analysis of the sink-stability for the deep-sea walking & swimming robot
Author(s) -
Wei Wei,
Xinliang Wang,
Kang Zhang,
Chen Hong
Publication year - 2019
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.179
H-Index - 26
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/369/1/012005
Subject(s) - inflow , fluent , computational fluid dynamics , lift (data mining) , marine engineering , robot , stability (learning theory) , simulation , computer simulation , control theory (sociology) , engineering , computer science , mechanics , aerospace engineering , physics , artificial intelligence , data mining , control (management) , machine learning
A brief introduction to the design concept of deep-sea walking & swimming robot is provided in this paper. And based on the computational fluid dynamics (CFD) method, a hydrodynamic numerical simulation model for the robot body is established. Then the flow field under different body inclination conditions and different ocean currents is numerically simulated by ANSYS Fluent, and the curves of resistance, lift and pitching moment with inclination are obtained. At the same time, the stability analysis method for deep-sea walking & swimming robot is established by combining dynamic stability margin method (DSM), and the stability of the walking & swimming robot is analysed. The stability of the tilting activity threshold is obtained under different inflow environments.