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Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 2015, Volume 25, Issue 4, Pages 544–553 (Mi vuu508)  

This article is cited in 2 scientific papers (total in 2 papers)

MECHANICS

A model of a screwless underwater robot

E. V. Vetchaninab, Yu. L. Karavaevab, A. A. Kalinkina, A. V. Klekovkina, E. N. Pivovarovaba

a Izhevsk State Technical University, ul. Studencheskaya, 7, Izhevsk, 426069, Russia
b Udmurt State University, ul. Universitetskaya, 1, Izhevsk, 426034, Russia

Abstract: The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.

Keywords: mobile robot, screwless underwater robot, movement in ideal fluid.

Funding Agency Grant Number
Russian Foundation for Basic Research 15-08-09093-а
Russian Science Foundation 14-19-01303


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Document Type: Article
UDC: 531.31+517.912
MSC: 70Hxx, 70G65
Received: 04.11.2015

Citation: E. V. Vetchanin, Yu. L. Karavaev, A. A. Kalinkin, A. V. Klekovkin, E. N. Pivovarova, “A model of a screwless underwater robot”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 25:4 (2015), 544–553

Citation in format AMSBIB
\Bibitem{VetKarKal15}
\by E.~V.~Vetchanin, Yu.~L.~Karavaev, A.~A.~Kalinkin, A.~V.~Klekovkin, E.~N.~Pivovarova
\paper A model of a~screwless underwater robot
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2015
\vol 25
\issue 4
\pages 544--553
\mathnet{http://mi.mathnet.ru/vuu508}
\elib{http://elibrary.ru/item.asp?id=25109977}


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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. Yury L. Karavaev, Alexander A. Kilin, Anton V. Klekovkin, “Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot”, Regul. Chaotic Dyn., 21:7-8 (2016), 918–926  mathnet  crossref
    2. A. A. Kilin, A. I. Klenov, V. A. Tenenev, “Upravlenie dvizheniem tela s pomoschyu vnutrennikh mass v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 10:4 (2018), 445–460  mathnet  crossref
  • Вестник Удмуртского университета. Математика. Механика. Компьютерные науки
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