水陆两栖球形机器人辅助鳍的水动力特性

To expand the application of a traditional spherical robot from the terrestrial environment to the aquatic environment, a compact and efficacious amphibious spherical robot design was proposed by attaching assistant fins onto the outer spherical shell to increase the robot's propulsion force. The wetted surface area of one assistant fin and its centroid were calculated, then equations of the lift force and the drag force were derived based on the airfoil theory, and afterwards equations of the horizontal force and the vertical force were presented. The horizontal force and the vertical force were fitted separately using Fourier series, and after that, the equations of the resultant force exerted on all those fins submerged into the water were given. The results show that increasing the rotational speed of the spherical shell and the wetted surface area of the fin increase the horizontal force. Attaching more fins onto the spherical shell increases the average of the resultant horizontal force, which changes periodically, and decreases its undulation. The assistant fins provide steady propulsion force for the spherical robot.