六腿式水下机器人复杂水流影响下的运动学分析  

Kinematic Analysis of Six-leg Underwater Robot under the Influence of Complex Currents

作　　者：王振先 尚伟燕[1] 程鸿[1] 易新华[1] WANG Zhenxian;SHANG Weiyan;CHENG Hong;YI Xinhua(School of Mechanical Automotive Engineering,Ningbo University of Technology,Ningbo 315211,China)

机构地区：[1]宁波工程学院机械与汽车工程学院,浙江宁波315211

出　　处：《宁波工程学院学报》2022年第3期8-14,共7页Journal of Ningbo University of Technology

基　　金：国家自然科学基金(51605232);浙江省公益技术应用研究项目(2015C31155)。

摘　　要：为提高水下工程作业机器人的运动稳定性,设计新型六腿式水下机器人,并对其复杂水流环境下的运动状态进行分析。首先,基于三维软件建立六腿式水下机器人的结构模型,给出其典型工作状态。其次,建立机器人水动力模型,对其进行流体仿真分析。最后,通过水动力仿真分析,给出六腿式机器人定向运动状态和垂直运动状态下机器人本体受力情况和各推进器受力情况的变化规律:其中v=1.5 m/s时,机器人做定向运动时整体阻力最小值为31.223 N,较最大值降低约14%;做垂直运动时整体阻力最小值为112.863 N,较最大值降低约26.5%。仿真结果可为六腿式水下机器人运动性能的研究提供了参考,为六腿式水下机器人稳定行驶和控制系统设计提供了参数依据。In order to improve the movement stability of the underwater engineering robot,a new-type and six-leg underwater robot was designed and its motion state in the complex water environment was analyzed.First of all,based on the 3D software,a structural model of the six-leg underwater robot was established and its typical working condition was given.Secondly,a robot hydrodynamic model was established through the fluid simulation analysis.Finally,through the hydrodynamic simulation analysis,the six-leg robot directional movement and vertical movement condition,the robot body stress distribution and the change rule of each propeller force were given,of which,when v=1.5 m/s,the whole least resistance value reaches 31.223 N when robots move directionally,14%lower than at the maximum value.When robots move vertically,the whole least resistance value amounts to 112.863 N,about 26.5%lower than at the maximum value.The simulation results can be of reference to the six-leg underwater robot research and provide the parameter basis for the design of the stable driving and control system of such robots.

关 键 词：六腿式水下机器人 流体仿真 运动性能 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]