Open AccessAbout the geometrical form of the underwater robot platform with non-parallel system the anchor-rope propulsion
Author(s) -
Е. С. Брискин,
Н. Г. Шаронов,
Ya. V. Kalinin,
I. A. Samozheev
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1129/1/012053
Subject(s) - rope , underwater , propulsion , robot , control theory (sociology) , simulation , computer science , marine engineering , tension (geology) , mechanical engineering , engineering , aerospace engineering , geology , materials science , artificial intelligence , control (management) , metallurgy , ultimate tensile strength , oceanography
The underwater mobile transport robot, which is a platform assembled from the polygonal pontoon modules, is considered. The system are used anchor-rope movers, which ensures high stability and energy efficiency of the entire system due to interaction with the bottom surface. The aim of the study is to select the geometric shape of the module according to such criteria as specific heat losses in the movers, the length of the step and the tension of the ropes. The formulated criteria characterize the energy consumption and the level of dynamic loads in the considered dynamic system, and the achievement of their optimal values contributes to the increase of autonomy. It takes into account not only the exchange rate resistance to movement, but also the influence of the current, which, depending on the direction, can both promote the movement of the platform and counteract it.