Research On Vectorial Waterjet Propulsion And Hydraulic Driving Technology Of The Underwater Robot

21th century is an oceanic century, owing to the underwater robot's important position in domains of ocean resource exploration and military,most countries just and strongly develop the underwater robot of high performance. This paper combined the project"Study on Mechanism of Hybrid Propulsive underwater vehicle Based on Wave Energy"of National Natural Science Foundation of China, and mainly studied the hydraulic driving system and the waterjet propulsive system of the hybrid propulsive underwater robot.(1) Put forward the project to adjusting the pose using hydraulic driving system and the driving project using waterjet propulsive system. Designed the integrated hydraulic driving system, then Using MATLAB/SimHydraulics and ADAMS carried out the Co-simulation analysis on the mechanical and hydraulic system. The result validated that the hydraulic system has enough ability to adjust the pose. The system has good control function at±30°angle instruction scopes.(2) Making use of the Fluent software, carried on CFD simulation to study the sailing resistance of the underwater robot, then analyzed the different compositions of the sailing resistance. On the basis of above results, contrasted the resistance size of different fuselage shapes, contrasted the resistance size of different water-inlet methods. Those two research work is the key problem that acquires a low resistance fuselage. Conclusion: Adopting streamlined fuselage shape, setting water-inlet at the front will get the least sail resistance.(3) Carried out CFD simulation analysis on the three spouts of different structure. From the spout loss and the useful velocity on the axis, contrasted the spouts'efficiency. By introducing modificatory coefficient of the sailing velocity, it proved that the first two kinds of spouts probably become the best structure project.(4) Using the method based on the momentum calculation, acquired the waterjet propulsive force abstractly. Using the waterjet experimental system, acquired the experimental data of the different spouts. Spoke volumes for the force forming efficiency problem about the small scale waterjet propulsive system.This paper's research combined the theory analysis, simulation analysis and the experimental research mutually, acquired a series of beneficial conclusions on the hybrid propulsive underwater robot.