水母启发的多模块仿生两栖机器人

IF 4.2 2区 计算机科学 Q2 ROBOTICS
Pan Ma, Haibo Qu, Wenju Liu, Xiaolei Wang, Haoqian Wang, Buqin Hu, Sheng Guo
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引用次数: 0

摘要

为了使水陆两栖机器人具有多种功能,同时保持整体结构相对简单,本文受水母运动模式的启发,提出了一种多模块仿生水陆两栖机器人(MMBAR)。MMBAR 由四个模块组成,通过卡扣连接,可以快速组装。它设计了适合在水中游泳的翼腿结构,利用柔性铰链将腿和翼结合在一起。同时,采用集成设计原理,将翼腿结构与轮子结构相结合,设计出适合陆地运动的可变形轮子。MMBAR 的整体结构简单,翼腿可变形以实现多种功能,如充当陆地运动的轮子、抓取物体的爪子以及为 MMBAR 游泳提供动力的推进机构。我们分别对陆上和水中的 MMBAR 进行了理论建模和模拟分析,这有助于了解 MMBAR 的运动特性,并获得更优化的运动参数。此外,我们还对 MMBAR 进行了爬坡、上台阶、雪地行走、水中游泳、抓取物体等实验,证实了 MMBAR 具有很强的环境适应能力。这些研究成果为水陆两栖机器人的研究增添了新的内容,水陆两栖机器人有望代替人类完成更多危险的工作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Jellyfish-inspired multimodular bionic amphibious robot

To make the amphibious robot have a lot of functions while keeping the overall structure relatively simple, this paper proposes a multimodule bionic amphibious robot (MMBAR) inspired by the movement mode of jellyfish. The MMBAR consists of four modules, which are connected by snaps, and can be assembled quickly. The wing–leg structure suitable for swimming in the water is designed, which combines the legs and wings using a flexible hinge. Meanwhile, the integrated design principle is adopted to combine the wing–leg structure with the wheel structure to design a deformable wheel suitable for land movement. The overall structure of the MMBAR is simple, and the wing–legs can be deformed to perform a variety of functions, such as acting as a wheel for land movement, as a claw for grasping objects, and as a propulsion mechanism to power the MMBAR for swimming. Theoretical modeling and simulation analyses are conducted separately for the MMBAR on land and in water, which helps understand the movement characteristics of the MMBAR and to obtain more optimized movement parameters. In addition, we conducted experiments on the MMBAR, such as climbing slopes, climbing steps, walking on snow, swimming in water, grasping objects, and so forth, which confirm that the MMBAR possesses a strong ability to adapt to the environment. These research results add new content to the research of amphibious robots, which are expected to replace humans to fulfill more dangerous jobs.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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