偏心桨机构水下旋转桨式步态水动力建模  

Hydrodynamic modeling of an eccentric paddle mechanism with rotational paddling gait

作　　者：李小毛[1] 彭宇 李天波 陈俊杰 徐佳 崔建祥[1] LI Xiaomao;PENG Yu;LI Tianbo;CHEN Junjie;XU Jia;CUI Jianxiang(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《上海大学学报（自然科学版）》2020年第6期884-895,共12页Journal of Shanghai University:Natural Science Edition

基　　金：国家自然科学基金资助项目(U1613226);国家自然科学基金面上资助项目(61673254)。

摘　　要：为提高两栖机器人在复杂环境下的通过能力,在前期研究中提出了基于偏心桨(eccentric paddle,ePaddle)机构的复合型两栖推进机构ePaddle,实现了多种陆上及水下运动步态.为探究该机构执行水下旋转桨式步态时的水动力特性,构建了基于Morison方程的推力预测模型,分析了滑差率、偏心距等配置参数对机构推力特性的影响,并且通过实验验证了模型的准确性.根据理论模型和实验结果对机构水下旋转桨式步态的使用提出了合理的应用建议.In previous work,an eccentric paddle(ePaddle)mechanism has been proposed to improve the mobility of amphibious robot under challenging environments,which can execute various terrestrial and aquatic gaits.In this paper,to investigate the hydrodynamic characteristics of rotational paddling gait,a hydrodynamic model is presented based on Morison equation for analyzing the effects on thrust characteristics with different configuration of parameters such as slip ratio,eccentric distance,etc.The accuracy of the model has been verified by the experiments.Based on the theoretical model and experimental results,the reasonable application suggestions for the rotational paddling gait of the ePaddle are presented.

关 键 词：偏心桨机构 旋转桨式步态 水动力模型 滑差率 两栖机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]