流线型仿生水中机器人设计  

Design of Streamlined Bionic Underwater Robot

作　　者：王思源 刘甜甜 

机构地区：[1]山东大学材料科学与工程学院,济南250002 [2]山东大学工程训练中心,济南250002

出　　处：《机电一体化》2021年第4期53-56,共4页Mechatronics

基　　金：教育部教指委新工科KAPI教学研究项目“水中机器人KAPI--一体化培养”(JJKAPI-201906)。

摘　　要：为了完成在水下高机动性运转,机器人整体采用了仿生流线型的设计方案,大大减少了运动阻力。同时,机器人配装了四个导管螺旋桨,保证了水下运动的高效性,其中控制前进、后退的两个螺旋桨对称分布在机器人中心两侧;控制沉浮的两个螺旋桨对称分布在机器人顶端,略高于机器人机身。在机器人机身前端安装操作台,用于安装水下作业工具如切割机、机械臂等。机器人机身前后各开有窗口,并用亚克力板密封,方便进行水下勘测作业。机器人整体采用无线遥控的方式控制。In order to achieve high maneuverability underwater,the robot adopts a bionic streamlined design scheme,which greatly reduces the movement resistance.At the same time,the robot is equipped with four ducted propellers to ensure the high efficiency of underwater movement.The two propellers that control forward and backward are symmetrically distributed on both sides of the center of the robot,and the two propellers that control the ups and downs are symmetrically distributed on the top of the robot,slightly higher than the robot,body.A console is installed at the front of the robot body to install underwater working tools such as cutting machines and robotic arms.There are windows on the front and back of the robot body and sealed with acrylic panels to facilitate underwater survey operations.The whole robot is controlled by wireless remote control.

关 键 词：水中机器人 运动原理 水下作业 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]