摘要
针对自主水下机器人作业能力不强及现有链式多体水下机器人因推进器外挂而减弱了机器人通过性等问题,文章提出了一种多关节水下机器人总体设计方案,该多关节水下机器人由功能载体与基本载体经连接关节串联构成。文章首先介绍了功能载体与基本载体的结构构成;接着对方案中使用的关键技术原理进行了详细分析,如射流操纵、矢量推进、折叠天线等;最后研制了多关节水下机器人基本载体物理样机,并依次进行了湖上试验与海上试验。在定向变深度航行试验中,深度误差不大于±0.1m,航向误差不大于±1°,试验结果验证了多关节水下机器人基本载体的航行能力,证明了文章所提出的多关节水下机器人设计方案的可行性。
Concerning the challenges of limited operational capabilities of autonomous underwater vehicles and the impaired passability caused by the externally mounted propellers on the existing chained multi-body underwater vehicles,this paper presents an overall design scheme for a multi-joint unmanned underwater vehicle composed of a functional carrier and a basic carrier.Initially,the structural arrangements of the functional carrier and basic carrier are introduced.Subsequently,a comprehensive exploration of the key technological principles incorporated in the scheme,such as jet manipulation,vector propulsion,folding antennas,among others is conducted.Lastly,a physical prototype of the basic carrier for the multi-joint unmanned underwater vehicle is developed,followed by successive trials in lake and sea environments.In the directional variable depth navigation tests,the depth error was no more than±0.1 m,and the heading error was not exceeding±1°.These experiment results validate the sailing capabilities of the basic carrier of the multi-joint unmanned underwater vehicle,thereby confirming the feasibility of the proposed design scheme for a multi-joint unmanned underwater vehicle in this paper.
作者
韩涛
胡志强
崔庆佳
秦晓辉
徐彪
HAN Tao;HU Zhiqiang;CUI Qingjia;QING Xiaohui;XU Biao(Wuxi Intelligent Control Research Institute of Hunan University,Wuxi,Jiangsu 214115,China;The State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,Liaoning 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,Liaoning 110169,China;State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,College of Mechanical and Vehicle Engineering,Hunan University,Changsha,Hunan 410082,China)
出处
《控制与信息技术》
2023年第6期24-31,共8页
CONTROL AND INFORMATION TECHNOLOGY
关键词
多关节水下机器人
功能载体
基本载体
射流操纵
矢量推进
试验验证
multi-joint unmanned underwater vehicle
functional carrier
basic carrier
jet manipulation
vector propulsion
experimental verification
