水下滑翔蛇形机器人结构设计与动力学建模  

Design and dynamic model of underwater gliding snake-like robot

作　　者：唐敬阁 李斌[1,2] 常健[1,2] 王聪[1,2] Tang Jingge;Li Bin;Chang Jian;Wang Cong(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;University of the Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [3]中国科学院大学,北京100049

出　　处：《华中科技大学学报（自然科学版）》2018年第12期89-94,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点研发计划资助项目(2017YFB1300101)

摘　　要：为了研制一种新型的具有高续航力和高机动性的水下滑翔蛇形机器人,提出一种适应其细长体外形、多模块特点的运动调节机构.基于动量定理、动量矩定理以及递推牛顿-欧拉法,分别建立滑翔运动和蛇形游动的动力学模型,模型充分考虑了附加质量力、流体力和流体力矩等影响因素.最后对建立的模型进行闭环控制仿真分析,结果证明了机械系统的有效性以及动力学模型的有效性.In order to develop a new type of underwater gliding snake-like robot with high endurance and high maneuverability,a movement adjustment mechanism that adapts to its slender body shape and multi-module characteristics was proposed.Then,based on momentum theorem,moment of momentum theorem and recursive Newton-Euler method,the dynamic models of gliding motion and serpentine swimming were established respectively.Moreover,added mass,fluid force and torque were fully considered.Finally,the closed-loop control simulations of the models were performed.The results demonstrate the effectiveness of the mechanical system and the dynamic models.

关 键 词：水下滑翔蛇形机器人 动力学模型 滑翔运动 蛇形游动 步态 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]