新型仿生水下子母机器人系统设计

Design of a novel biomimetic underwater mother-son robot system

传统的水下子母机器人在水下作业时母机器人会有噪音大、体积大和隐蔽性差的缺点,而且子机器人作为提高水下机器人位置精度和续航时间的重要手段大多采用尾部摆动、机身两侧划水、小型螺旋桨推进等方式,造成运动过程中稳定性差、噪音大而且尺寸难以微型化的缺点.为了克服这些不足,设计一种新型仿生水下子母机器人系统.该系统球形母机器人采用喷水电机进行喷水推进,减少噪音,增加隐蔽性,并为微型子机器人提供控制信号和能源.微型子机器人以樽海鞘为原型基于仿生原理设计,在水下运动透明度高、隐蔽性强、稳定性高.建立球形母机器人的喷水推进器和微型子机器人的微型驱动器的驱动力计算模型,同时建立微型子机器人的水下转向模型.最后制作子母机器人样机并进行子母机器人的水下运动实验,以验证所设计的子母机器人系统的有效性.

When executing operations in underwater space,the traditional underwater mother robot has some limitations,such as loud noise,large size and poor concealment,and the movement mode of the son microrobot usually uses the way of tail swing,fin oscillating water and propeller impetus,which causes it hard to scale down and lack of stability.In order to overcome these shortages,a novel biomimetic underwater mother-son robot system is designed.In this system,the spherical underwater mother robot uses the water-jet as the actuator to reduce noise and increase concealment,which can provide the energy and signal for the microrobot.Based on the principle of bionics,the microrobot is designed according to the salps,which has the advantages of high sports transparency,high concelment,and high stability.The calculation model of the actuators of the mother-son robot are established respectively,and the rotating models of the son microrobot is also established.Finally,the prototype of the mother-son robot is made,and the underwater motion tests of the robot are carried out to verify the effectiveness of the designed mother-son robotic system.