水陆两栖仿生海龟机器人设计与分析

Design and Analysis of the Amphibious Bionic Robotic Turtle

针对传统机器人在水陆工作环境下运动模式转换的适应性问题,以海龟的水陆行进方式为出发点,分析了水下扑翼动作、水下转向和沉浮动作以及上岸后水翼折叠动作的实现方式,提出了一种采用扑翼传动机构、可变形自锁水翼机构、后腿机构和重心调节机构来实现水陆行进的水陆两栖仿生海龟机器人设计方案。建立了扑翼传动机构运动模型和仿生机器人整体重心仿真模型,分析了仿生扑翼运动特性并计算了固定配重安装位置。对仿生水翼进行力学分析,表明机器人能够实现可靠的水下扑翼运动。对仿生机器人关键零部件进行了流固耦合力学仿真分析和方案优化。试制了仿生机器人样机并进行了试验测试,实现了仿生机器人的基本功能。

In order to solve the problem of adapting the land-and-water working environment for traditional robots,this paper focuses on the land-and-water move pattern of turtles,and analyzes the implementation of underwater wing flapping motion,underwater turning and sinking motion,and the folding motion of hydrofoil after disembarkation,and then designs the amphibious bionic robotic turtle using wing flapping mechanism,transformable self-locking hydrofoil mechanism,hindlimb mechanism and center of gravity adjustment mechanism to achieve land-and-water movement.The motion model of the wing flapping mechanism and the simulation model of the center of gravity of the bionic robot are established.The characteristics of the bionic wing flapping motion are analyzed and the installation position of fixed counterweights is calculated.The mechanical analysis of the bionic hydrofoil shows that the robot can achieve reliable underwater wing flapping motion.A fluid-structure interaction analysis of the key components is conducted,and the solution is optimized.The prototype of the bionic robot is tested,and the basic functions of the bionic robot are realized.