应用于水陆两栖勘测及紧急救援的仿生机械龟

Bionic Mechanical Turtle for Amphibious Exploration and Emergency Rescue

针对现有水下航行器能耗高、噪声大、续航能力一般等问题,通过探索水下仿生扑翼的推进机理,结合流体力学运动的知识,利用SolidWorks仿造龟的外形设计了仿生机械龟。该机械龟装载浮力与重力感应系统,通过PID算法控制机器在水中的平衡,使用Arduino作为主控制板,利用传感器、摄像系统与数据传输系统,进行实时监测并传输数据,龟壳中设计了贮藏空间,满足勘测和物资救援任务。实验结果表明,所设计的水陆两栖仿生机械龟优化了形态和运行控制系统,对比美国耶鲁大学研制出的仿乌龟形水陆两栖机器人ART,能够适应多样化地形高效的运动,具有高灵活性和机动性,能完成对水中温度、压强、地形进行实时监测并将数据传输回终端。

Aiming at the problems of high energy consumption,loud noise and mediocre endurance of the existing underwater vehicles,by exploring the propulsion mechanism of the underwater bionic flapping wing and combining the knowledge of fluid dynamics,a bionic mechanical turtle is designed by using SolidWorks to simulate the shape of a turtle.The mechanical turtle is designed to meet the tasks of survey and material rescue,it is equipped with buoyancy and gravity sensing system,and controls the balance of the machine in water through PID algorithm.Arduino is used as the main control board,and sensors,camera system and data transmission system are used to carry out realtime monitoring and data transmission.Storage space is designed in the turtle shell.The experimental results show that the designed amphibious bionic mechanical turtle has optimized its shape and operation control system.Compared with the tortoise-like amphibious robot ART developed by Yale University,it can adapt to the efficient movement of diverse terrain,has high flexibility and maneuverability,can complete real-time monitoring of water temperature,pressure and terrain and transmit data back to the terminal.