Анализ конструкций подводных роботов

М А Эладави; Ю Л Караваев

doi:10.22213/2413-1172-2023-1-35-47

Авторы

М. А. Эладави ИжГТУ имени М. Т. Калашникова
Ю. Л. Караваев ИжГТУ имени М. Т. Калашникова

DOI:

https://doi.org/10.22213/2413-1172-2023-1-35-47

Ключевые слова:

мобильные роботы, движение подводных аппаратов, гидродинамика, рыбоподобные роботы, биомиметика, подводные роботы

Аннотация

Данная статья посвящена анализу существующих отечественных и зарубежных конструкций подводных роботов. Прежде всего делается упор на описание конструкций и анализ их влияния на маневренность движения в жидкости. Рассмотрены различные механизмы приведения подводных роботов в движение, описаны подходы к моделированию. Дается описание и сравнение подводных мобильных роботов, приводящихся в движение с помощью винтов, в зависимости от их количества, расположения, а также формы корпуса, и более подробно рассматриваются конструкции роботов, реализующих биоподобное движение в жидкости. Проводится сравнение способов передвижения в жидкости с помощью винтовых движителей и биоподобными или безвинтовыми способами передвижения. Дается обзор механизмов, используемых для формирования биоподобных движений, описание материалов и свойств корпуса, характерных для данного вида подводных роботов, а также описание механизма движения в жидкости с учетом сил сопротивления и управления плавучестью. Особое внимание уделяется работам, посвященных исследованию формы хвоста рыбоподобного робота, направленных на повышение эффективности движения робота в жидкости. Проведенный анализ позволил выявить наиболее сильные и слабые стороны используемых механизмов реализации биоподобного движения в жидкости. На основании результатов аналитического обзора рассмотрена типовая структура подводного робота и требования к ее компонентам. В заключении обсуждаются актуальные технические и научные задачи, стоящие перед исследователями, работающими над созданием подводных роботов, функционирующих как в автономном, так и дистанционно управляемом режимах.

Биографии авторов

М. А. Эладави, ИжГТУ имени М. Т. Калашникова

магистрант

Ю. Л. Караваев, ИжГТУ имени М. Т. Калашникова

кандидат физико-математических наук, доцент

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