一种超小型碟型水下机器人设计

设计了一种超小型碟形水下机器人，该水下机器人利用两个螺旋桨，能够完成多个自由度方向的运动．与通常超小型水下机器人相比，该碟形水下机器人的特点是采用可两轴旋转的水平螺旋桨来同步实现机器人的升降与/或横向水平运动．详细分析与推导了超小型碟形自治水下机器人同步实现机器人的升降与横向运动的关系式，给出了实现横向运动应满足的控制力的条件；得出了保证碟形水下机器人横向运动应该满足的表达式．

Design of a dish-shaped sub-mini underwater vehicle

In the special case, the sub-mini underwater vehicle (SMUV) is only asked to perform transverse movement. But because of the limited size, the requirement is difficultly realized or the cost is dear. This paper expounds upon the design scheme of a kind of dish-shaped SMUV. It enables the vehicle to fulfill many degrees of freedom of movement in many directions. The mechanical structure designs fulfill the SMUV movements. Compared with those common SMUV's, the characteristics of this vehicle are that it adopts revocable properller with two rotated axises to accomplish synchronously the robot ascending and descending and direction changing. And the relationship between movements and conditions of control forces is derived. An expression for ensuring the normal function of the dish-shaped SMUV is obtained.