密閉された球体外殻をもつ小型AUVの開発

抄録

With the increasing demand for energy, there is an expectation for the development of autonomous underwater robots for marine resource exploration. In this study, we aim to develop a small AUV that generates thrust by rotating itself. We developed a small spherical AUV whose moment of inertia is constant around any axis and whose rotation axis can be easily tilted, and verified its operation. As a result, we were able to rotate the spherical outer shell with the proposed drive mechanism. It was also found that as the rotation speed was increased, precessional motion was