球形水下机器人滚进特性试验与动力学建模分析

Rolling test and dynamics simulation of spherical underwater vehicle

[目的]为了探究球形水下机器人的滚进运动规律,以及质量分布对其运动的影响,对其机械机构进行创新设计及分析。[方法]首先,依据牛顿-欧拉方法建立球形机器人的滚进动力学模型;然后,通过地面滚进试验和水下滚进动力学理论研究,分析机器人的质量分配对滚进运动产生的影响;最后,通过搭建仿真环境和虚拟样机,对球形水下机器人在水下和陆地的滚进动力学进行对比分析。[结果]结果表明,当内置小车以恒定角速度输出时,该球形机器人的运动位移呈波动变化且驱动小车在球壳内的摆角也成周期性变化规律;当增加驱动配重时,小车摆角的周期和幅值均相应变小,球形水下机器人的运动更为稳定。[结论]所做研究可为球形水下机器人的设计优化提供指导。

[Objectives]In order to investigate the rolling-forward law of a spherical underwater vehicle and the influence of mass distribution on its motion,this study carries out the innovative design and analysis of its mechanical mechanism.[Methods]First,a dynamic model of the rolling-forward motion is established using the Newton-Euler method.The influence of mass distribution on its motion is then analyzed through the ground test and underwater hydrodynamics theory.Finally,by building a simulation environment and virtual prototype,the rolling dynamics of the vehicle underwater and on land are compared and analyzed.[Results]The results show that when the built-in driving unit rotates constantly,the speed of the vehicle fluctuates and the swing angle of the built-in driving unit also alters periodically.When the driving weight is increased,the period and amplitude of swing angle become smaller,and the rolling-forward motion becomes more stable.[Conclusions]The results of this paper can provide guidance for the further optimization of spherical underwater vehicles.