Design and characteristics evaluation of a novel spherical underwater robot


This paper depicts the structural design of a novel water-jet-based spherical underwater robot. The propulsion system is made up of four water-jet thrusters and 8 steering servo motors which can adjust the polydirectional shift of thrusters nozzle to achieve 4-degrees-of-freedom (4-DOF) motion. Every two thrusters nozzles formed an angle of 90 degree in one… (More)
DOI: 10.1016/j.robot.2017.03.014


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