球形机器人水下系泊状态水流干扰运动分析  

Motion analysis of spherical robot under underwater mooring state with water flow disturbance

作　　者：李艳生 杨美美 魏博 孙汉旭[2] LI Yansheng;YANG Meimei;WEI Bo;SUN Hanxu(School of Advanced Manufacturing Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]重庆邮电大学先进制造工程学院,重庆400065 [2]北京邮电大学自动化学院,北京100876

出　　处：《华中科技大学学报（自然科学版）》2020年第1期71-76,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金青年基金资助项目(61803058,61703067);重庆市自然科学基金资助项目(cstc2018jcyj AX0385)

摘　　要：为了使球形机器人能在复杂水域安全工作和利用能量,对其锚定状态下受水流干扰的运动规律进行分析.首先针对机器人的形体结构特点,应用线性波理论和Morision方程对流体载荷进行描述,并以机器人锚定系统方程为基础,引入波浪水动力、重摆扰动力和绳索弹性力项,建立了球形水下机器人锚定状态波流联合激励的动力学模型.然后在搭建的虚拟仿真验证系统中对机器人的位移、绳索拉力和重摆摆角进行仿真和验证,总结出绳索锚定角和拉力随流速增加呈非线性变化规律及机器人在波浪幅值影响下的波动特性,结合绳索张紧和松弛状态交替现象分析绳索拉力和重摆摆角异常波动原因.研究结果为球形机器人对流体波浪能的吸收和转化提供理论基础.In order to make the spherical robot work safely and efficiently under complex water,the motion law was explored and analyzed under water flow disturbance and anchored state.First,the linear wave theory and the Morision equation were applied to describe the fluid load of the robot.Hydrodynamic force of wave,disturbance force of swing and elastic force of rope were introduced based on the equilibrium equation of the robot system,and the dynamic model of the spherical robot was established under the combined action of wave and flow.Then,the displacement,rope pulling force and swing angle of the robot were simulated and verified in the virtual simulation verification system.The rope anchoring angle and pulling force were nonlinearly changed with the increase of the flow velocity,and the volatility characteristics of the robot were summarized under the influence of the wave amplitude.According to the alternating phenomenon of rope tension and slack state,the causes of abnormal fluctuation of pulling force and swing angle were analyzed.Research results provide a theoretical basis on absorbing and transforming fluid wave energy for the spherical robot.

关 键 词：水下机器人 球形机器人 运动分析 波动特性 能量利用 

分 类 号：TH113.2[机械工程—机械设计及理论]