复合式驱动小型两栖机器人水下运动控制研究

Study on small-scaled amphibious robot with compound driving mechanism and its underwater motion control

针对两栖环境中机器人多自由度灵活稳定运动的需求,设计了一种具有"轮-腿-矢量喷水"复合驱动机制的小型两栖球形机器人。首先介绍了机器人的主要结构组成:一个密闭的上半球壳、两个可开关的1/4球壳、4条复合式驱动腿以及滑行模块等;其次,对球形机器人的复合驱动机制进行分析和建模;接着,根据水下环境和机器人的特性,设计了基于传统PID算法的神经网络自整定控制算法;最后,在室内水池中进行了机器人运动的实验测试。实验结果表明,机器人在水中运动性能良好,运动轨迹和姿态角误差在控制器接受范围之内。所提出的具有复合驱动机制的自主式两栖球形机器人,在滨海两栖环境的资源勘测等方面具有广阔的应用前景。

Aiming at the requirements of multiple degree of freedom, flexible and stable motion of robot in amphibious environment, in this paper a small-scaled amphibious deformable spherical robot with 'wheel-leg-water jet' compound driving mechanism is designed. Firstly, the main structure composition of the amphibious spherical robot is introduced, which includes a closed upper hemisphere shell, two openable quarter lower shells, four compound driving legs and a sliding module. Secondly, the mechanical analysis and dynamic modeling of the compound driving mechanism of the spherical robot are carried out. Then, according to the underwater environment and robot characteristics, a neural network self-tuning control algorithm based on traditional PID algorithm is designed and implemented. Finally, the experiment tests on the robot motion were carried out in an indoor pool. Experiment results demonstrate that the robot has good motion performance in water, the errors of the motion trajectory and attitude angle are within the acceptable range of the controller. The autonomous amphibious spherical robot with compound driving mechanism proposed in this paper has broad application prospects in resource exploration of coastal amphibious environment.