水下爬游机器人足端运动空间分析

Analysis of Motion Space of Underwater Walking-Swimming Robot’s Feet

水下爬游机器人是一种新型的既可以在海底爬行,又能够在水中巡游的无人潜水器。其多肢多关节的结构使其可在海底复杂地形中实现精确移动,在洋流干扰下实现稳定坐底,兼具AUV高效大范围的机动能力和ROV的精确移动定位能力。论文结合爬游机器人腿部结构特点,构建腿部运动学方程,并对不同关节角度范围的足端工作空间进行了模拟仿真,为机械腿结构优化及关节运动规划等研究奠定基础。

Underwater walking-swimming robot is a new kind of unmanned submersible,which can walk on the seaboard or swim in the sea.Multi-legs and multi-joints structure of the robot will help to achieve precise movement on the seaboard and to keep steady in turbulent flow.It has a long-scale maneuverability as an AUV and ability of precise movement as a ROV.In this article,a kinematic model of walking-swimming robot’s leg is established,and characters of the walking-swimming robot legs are also thought.Motion space of the feet is simulated by this model with different joint angle regions.