| 摘要 |
A remotely controlled submersible with a circular profile. A shaft crosses the submersible at the center on the pitch axis that is fixed to the external shell holding the 5 thrusters. From this shaft the framework of the submersible hangs with all of the essential components and any additional weight required gaining the desired buoyancy. A motor such as a servo motor is mounted to the framework and is coupled to a gear, sprocket or pulley that is fixed on the center shaft. When activated the motor rotates the shell of the submersible along with the thrusters to the desired pitch while the internal 10 frame remains low. The design of the submersible external body in relation with the internal body allows the submersible to pitch and maintain stability with a fixed center of buoyancy and center of gravity. heave (z) 134 yaw - 134 pitch roll sway (y) surge (x) 144 |
