一种两栖运载机器人水陆运动性能研究

Research on the water and land motion performance of an amphibious vehicle

针对所设计的一种两栖运载机器人进行了水陆关键运动的分析。陆地上基于多关节履带的特点规划了机器人爬台阶的2种步态,对规划的2种步态建立攀爬台阶和翻越台阶的运动学模型,获得机器人能够爬台阶的最大高度,并基于动力学规律建立机器人行进间受强瞬态冲击的稳定方程,获得机器人行进间受强瞬态冲击时保持自身稳定性的条件,为机器人机械臂姿态控制提供理论基础;水中采用流体数值方法模拟机器人摆臂伸开与摆臂收缩状态下的水中运动,获得机器人摆臂履带2种状态下的行驶阻力和表面压力,分析机器人行驶阻力和速度关系,获得机器人行驶阻力与行驶速度的关系表达式,为机器人水中行驶摆臂履带状态选择和速度设定提供数据支撑。

The key motions of land and water are analyzed for a designed amphibious carrier robot.On land,based on the characteristics of the multi-joint crawler,the robot has planned two gaits for climbing steps on land.The kinematic models of climbing steps and climbing steps are established for the two planned gaits,and the maximum height that the robot can climb steps is obtained based,Based on the laws of dynamics,the stability equation of the robot under strong transient impact is established to obtain the conditions for the robot to maintain its own stability when the robot is under strong transient impact during traveling,which provides a theoretical basis for the attitude control of the robot arm.In the water,the fluid numerical method is used to simulate the underwater motion of the robot′s swing arm in the extended and retracted state,obtain the traveling resistance and surface pressure of the robot′s swing arm crawler in the two states,analyze the relationship between the robot′s traveling resistance and speed,obtain the relationship expression between the robot′s traveling resistance and the traveling speed,and provide data support of the state selection and speed setting of the robot′s underwater crawler.