关键词: 水下球形机器人, 构型, 导管内径, 配重质量

Abstract:

The design and optimization method of a spherical underwater vehicle BYSQ-2's structure is presented. The vehicle's attitude can be changed by the inner steering mechanism. The structure of the vehicle is designed according to the configuration scheme and design index. After the thruster's type is chosen, the size of the pipe's inside diameter can be optimized by the admiralty coefficient law. According to the whole machine balancing law, the structure is adjusted to achieve symmetry, and the counterweight's quality is optimized. The BYSQ-2’s prototype is manufactured according to the conclusion, and the result of the experiment indicates that the prototype's performance achieves the design requirement. 

Key words: spherical underwater vehicle, configuration, the pipe’s inside diameter, the counterweight’s quality