轮泵复合式两栖驱动方法

Wheel pump combination amphibious driving method

将360°回旋喷管和二维矢量推进特性引入到喷水推进装置,通过对现有两栖机器人的运动特性、两栖环境适应性的综合分析,将中空的驱动轮与轴流叶片进行复合,设计了一种轮泵复合式的两栖矢量喷水驱动装置.根据动量定理与流道压力能损耗理论,求解了两栖喷水驱动装置的二维推力与电机转速的预估值.基于能量守恒和粘滞阻力原理建立了驱动电机转矩的预估模型.对两栖推进装置进行CFD仿真,得到了推进器内部流道的压力、速度等流动特性.最后制作了轮泵复合式推进器,测试了推进器的推力性能,得到了特征尺寸为50 mm×100 mm×90 mm的推进器转速为2 800 r/min时推力大小为6.5 N,与仿真结果对比误差小于8%,验证了该构型在水下推进的有效性和二维矢量推力特性.

360 degree rotating nozzle was introduced into water jet propulsion system.Based on the comprehensive analysis of the kinematic characteristics and amphibious environment adaptability of the existing amphibious robot,an amphibious vector water-jet driving device is designed by combining hollow driving wheel and axial-flow blade.Based on the momentum theorem and the theory of pressure and energy loss in the flow-path,the prediction of two-dimensional thrust and motor speed of amphibious water jet drive device was established.Based on the principle of energy conservation and viscous resistance moment,a prediction model of driving motor torque was established.CFD simulation of the device was carried out to obtain the flow characteristics such as pressure and velocity in the inner channel of the propeller.Finally,a wheel-pump combination amphibious thruster was made and tested under water.The thrust of the micro-wheel-pump combination amphibious thruster with a characteristic size of is 6.5 N at a speed of 2800 r/min.The comparison error between the experimental results and the simulation results is less than 8%,which verifies the effectiveness of the configuration and the two-dimensional vector thrust characteristics.