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提出了由内部配重转动机构改变姿态的水下球形机器人BYSQ-2型的结构设计与优化方法.根据BYSQ-2型的构型方案与设计指标设计水下球形机器人的机械结构,在确定推进器的型号之后,首先根据海军部系数原则对导管内径尺寸进行优化设计;然后根据整体平衡原则进行结构对称性设计与配重质量优化设计;最后根据计算结果制作BYSQ-2型样机,样机水池实验结果表明其性能达到了设计要求.
The structure design and optimization method of underwater spherical robot BYSQ-2 with attitude changed by the internal counterweight rotating mechanism is proposed.According to the configuration scheme and design index of BYSQ-2, the mechanical structure of underwater spherical robot is designed, First, according to the Admiralty Coefficient Principle, the inner diameter of the pipe is optimized; then the symmetry of structure and the mass of the weight are optimized according to the principle of overall balance. Finally, the BYSQ-2 prototype and prototype pool experiment The results show that its performance has reached the design requirements.