空水两栖子母系统设计与研究  

Design and Research of Air-water Amphibious System

作　　者：马跃 李洁[1] 唐雪 蒋海洋 王叶文 Ma Yue;Li Jie;Tang Xue;Jiang Haiyang;Wang Yewen(Key Laboratory of Robotics for Special Environments of Sichuan Province,Southwest University of Science and Technology,Mianyang Sichuan,621000)

机构地区：[1]西南科技大学四川省特殊环境机器人技术重点实验室,四川绵阳621000

出　　处：《电子测试》2021年第20期50-52,9,共4页Electronic Test

摘　　要：随着海洋、湖泊、河流等水域监测日益重要,迫切需要具有在复杂环境搜寻功能的机器人系统,而单种机器人平台受到限制。本项目消化吸收国内外变结构机器人先进技术,探索出了一套空水结构与子母协作的机器人系统。可解决当前单种机器人在水、陆、空三域搜寻定位的灵活性差、运动控制实时性、精度低及稳定性差、适应性弱和多功能运动模式受限等问题。As the monitoring of oceans,lakes,rivers and other waters is becoming more and more important,there is an urgent need for robotic systems with search functions in complex environments,and single robotic platforms are restricted.This project digests and absorbs the advanced technology of variable structure robots at home and abroad,and explores a set of robot system with empty water structure and child-mother collaboration.It can solve the problems of poor flexibility,real-time motion control,low accuracy and stability,weak adaptability and limited multi-functional motion modes of a single robot in the three domains of water,land and air.

关 键 词：水陆空三域 复杂环境 子母系统 水空可变结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]