摘要
水面机器人是指不依赖于净浮力而能够在水面上自由运行的新型机器人。其脚掌的形状将直接影响到机器人系统的运动特性。受蛇怪蜥蜴运动特点的启发利用多节铰链结构设计了一种新型的蹼状脚掌来模拟其运动。运用流体力学理论对该脚掌进行了详细设计并对其进行了运动学分析,在理论上论述了设计的可行性并对其仿真验证。该研究对今后该机器人在水上自主控制、整机样机制作和实验分析打下了基础。
Water moving robot a new type of robot that isn＇t dependent on net buoyancy can walk on water freely. Bionic robot is a kind of robot imitating the features of biological creatures. The shape of its feet will directly affect the whole kinetic characteristics of the robotic system, Inspired by the movement of basilisk lizards, a multiple class hinge structure was used to design a novel web-shaped foot. Through the theory of hydromechanics, the details of foot-palm was discussed and the feasibility of the design was theoretically proved. Finally, the application of the designed foot was verified by simulation This research is not only a basis for robot autonomous control on water, it lays a foundation for further model manufacturing and experimental analysis as well.
出处
《机械设计与研究》
CSCD
北大核心
2012年第1期22-25,共4页
Machine Design And Research
