一种桨身融合蛇形两栖子母机器人的机构设计和运动学仿真

Mechanism Design and Kinematics Simulation of a Snake-like Amphibious Mother-Daughter Robot with Blended-Oar-Body

为实现机器人拓展仿生、多模式运动、多子体协作等要求,完成了一种新型两栖机器人的机构设计.将蛇形机器人和类水母的游动方式相结合,区别于传统的轮桨鳍腿足等设计理念,参照翼身融合、船桨划水以及壁虎断尾的原理,分别采用了桨身融合、桨叶可开合和子母分体等新概念.为验证设计,研制了包括子体、关节部和分体部在内的机器人各部分.最后通过各运动机构的数学模型结合UG运动机构仿真、MATLAB数值分析和实物试验验证了机器人各部分设计的合理性和可行性.

To meet the requirements of robot＇s bionic expansion, multimode locomotion and multi-daughter collaboration, the mechanism design of a new kind of amphibious robot is presented. The swimming modes of snake and jellyfish are combined in the robot design. Furthermore, referring to the principles of blended-wing-body, oar pulling and tail cutting escape way of a house lizard, this design uses some new design concepts like blended-oar-body, hinged oar and mother- daughter separable body other than the traditional designs of wheel, propeller and fin leg. To verify the design, the daughter part, the joint part and the separable part of the robot are all developed. With the mathematical models of each motion mechanism, the rationality and feasibility of the robot parts＇ motion mechanism designs are finally proved by UG motion simulation, MATLAB numerical analysis and the test experiments.