Table of Contents
Sensors, Volume 19, Issue 2 (January-2 2019)
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Cover Story (view full-size image) Thrusters play an important role in the motion control of amphibious spherical robots. A thrust [...] Read more. Thrusters play an important role in the motion control of amphibious spherical robots. A thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed as a way of achieving accurate motion control. The hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. The basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Compared with other related experimental results, the maximum error of the simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots. View this paper.