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Study on a Novel Water-jet-based Father-son Spherical Underwater Robotic System
https://kagawa-u.repo.nii.ac.jp/records/250
https://kagawa-u.repo.nii.ac.jp/records/2501775773d-38af-417a-99f0-3311c85d860d
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論文内容の要旨・審査結果の要旨 (531.4 kB)
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本文の要約 (749.9 kB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||
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| 公開日 | 2015-03-24 | |||||||||
| タイトル | ||||||||||
| タイトル | Study on a Novel Water-jet-based Father-son Spherical Underwater Robotic System | |||||||||
| 言語 | en | |||||||||
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| 言語 | eng | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||
| 資源タイプ | doctoral thesis | |||||||||
| 著者 |
岳, 春峰
× 岳, 春峰
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | Abstract In order to realize underwater intervention in a narrow and cluttered environment, the conceptual of water-jet based father-son spherical underwater robotic system is proposed. The father robot takes the son robot is actuated by a vectored water-jet propulsion system. The son robot and provide power for the son robot. The son robot takes in charge of underwater manipulation. In this thesis, several important problems have been dealt with. First, the kinematics and dynamics model are established. Then, we introduce the mechanical design for the father robot, and static analysis is carried out for the propulsion system. We design a launching structure for the son robot which is located on the bottom of the father robot. And, we design and discuss the mechanical structure for the son robot which is actuated by IPMC. The electrical system contains hardware and software of the robotic system is designed. In order to verify the hydrodynamic parameters and investigate the interaction between the robot and fluid, hydrodynamic analysis is carried out for the spherical underwater robot and thruster respectively. Finally, a series underwater experiment is designed to evaluate the performance of the proposed underwater robotic system. |
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| 言語 | en | |||||||||
| 学位名 | ||||||||||
| 言語 | ja | |||||||||
| 学位名 | 博士（工学） | |||||||||
| 学位授与機関 | ||||||||||
| 識別子Scheme | kakenhi | |||||||||
| 識別子 | 16201 | |||||||||
| 言語 | ja | |||||||||
| 機関名 | 香川大学 | |||||||||
| 言語 | en | |||||||||
| 機関名 | Kagawa University | |||||||||
| 学位授与年月日 | ||||||||||
| 学位授与年月日 | 2015-03-24 | |||||||||
| 学位授与番号 | ||||||||||
| 学位授与番号 | 甲第106号 | |||||||||
| 権利 | ||||||||||
| 言語 | en | |||||||||
| 権利情報 | © Copyright by Chunfeng Yue, 2015 All rights reserved. | |||||||||
| KEID | ||||||||||
| 27783 | ||||||||||
