@phdthesis{oai:kagawa-u.repo.nii.ac.jp:00000250,
 author = {岳, 春峰 and Yue, Chunfeng},
 month = {2020-10-28, 2020-10-28},
 note = {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.},
 school = {香川大学, Kagawa University},
 title = {Study on a Novel Water-jet-based Father-son Spherical Underwater Robotic System},
 year = {}
}