摘要
针对传统螺旋桨和喷水推进器能量损耗较大、价格高、修复工作复杂等问题,利用行星轮系设计一种适用于工作在浅水区域的小型快速水下机器人及某些水上小型舰船的高效喷水推进器机构.介绍该喷水推进器的工作过程,利用齐次坐标变换方法分析行星轮系推进装置的工作原理,对其进行运动学分析,得到推进装置末端的位置、速度、加速度解.运用Pro/E中的动态机构分析及仿真模块对推进装置进行动态分析,验证推进装置运动学分析的正确性和推进器工作原理的可行性.
Aimed at the problem of high dissipation of energy, high cost and complicated recovery and restoration with the traditional and water-jet propellers, a highly-efficiency water-jet propeller working with planetary gear train was put forward. It would be suitable for high-speed, small-scale underwater vehicles and robots that work in the shallow water and certain small surface ships as well. Working .process of this water-jet propeller was introduced. The operational principle of the planetary gear propulsion was explained by means of homogeneous transformation of coordinate, systems and its kinematic analysis was conducted, so that the displacement, speed and acceleration of the propulsion end were determined. The dynamic analysis was carried out by using the modules of dynamic mechanism analysis and simulation in the software Pro/E. The correctness of kinematics analysis of the planetary gear propulsion and the validity of operational principle of the water-jet propeller were verified.
出处
《兰州理工大学学报》
CAS
北大核心
2009年第3期29-32,共4页
Journal of Lanzhou University of Technology
关键词
喷水推进器
原理分析
运动学分析
动态仿真
water-jet propeller
principle analysis
kinematic analysis
dynamic simulation
