多航态水下仿生机器人的设计  

Design of Multi-navigation Underwater Bionic Robot

作　　者：王彦斌 李烨 张弛[1] 沈荣天 WANG Yanbin;LI Ye;ZHANG Chi

机构地区：[1]哈尔滨工程大学,黑龙江哈尔滨150001

出　　处：《科技创新与应用》2022年第7期7-9,共3页Technology Innovation and Application

摘　　要：为解决传统水下作业方式中AUV巡航配合ROV定点作业存在的运动局限性和配合的复杂性问题。文章设计一款集AUV巡航能力和ROV定点作业能力于一体的水下仿生机器人。将鱼类的游动和昆虫的爬行进行有机结合,既保证游动的效率和机动性,又保证在崎岖地形的稳定性,同时发挥二者的优势,相辅相成,更好地适应水下环境,降低仿生机器人对特定环境的依赖性。In order to solve the limitation of movement and the complexity of cooperation between AUV cruise and ROV fixed-point operation in the traditional underwater operation mode. In this work, an underwater bionic robot is designed, which integrates the cruising ability of AUV and the fixed-point operation ability of ROV. The organic combination of the swimming of fish and the crawling of insects ensures not only the efficiency and mobility of swimming, but also the stability in the rugged terrain, and at the same time give full play to their advantages, making them complement each other and better adapt to the underwater environment. The dependence of bionic robot on specific environment is reduced.

关 键 词：多航态 仿生 巡航 爬行 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]