两栖仿生机器人登陆自适应越障机构优化设计  

Optimal design of self-adaptive climbing mechanism for landing in the amphibious bionic robot

作　　者：殷谦 王何 宋震 尚建忠[2] 罗自荣 YIN Qian;WANG He;SONG Zhen;SHANG Jianzhong;LUO Zirong(College of Energy and Power Engineering,Changsha University of Science&Technology,Changsha 410114,China;College of Inelligence Science and Technology,National University of Delense Technology,Changsha 410073,China)

机构地区：[1]长沙理工大学能源与动力工程学院,湖南长沙410114 [2]国防科技大学智能科学学院,湖南长沙410073

出　　处：《国防科技大学学报》2023年第1期208-214,共7页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(52105289,52075537)。

摘　　要：两栖仿生机器人是一种能够同时在水下和陆地工作的无人平台,在抢险救灾、环境勘探与资源开发等领域具有广泛应用。本文提出了一种具有自适应登陆越障能力的轮鳍复合式两栖机器人,对其越障过程进行了运动学与力学分析,以其在临界越障时刻转矩为目标函数,应用遗传算法优化设计了结构与运行参数,同时与其他两栖机器人越障能力进行对比。结果表明,优化后越障所需转矩相比优化前降低了718.4 N·mm,轮鳍复合式机器人能够攀越相比自身尺寸更高的垂直障碍。模拟仿真了所设计机器人的越障过程,获得了其在平地行走、越障以及上坡推进过程中的速度、位移与力矩的变化规律,并通过实验进行了验证。The amphibious bionic robot is an unmanned system which can work both underwater and on land,which has been widely used in the fields of disaster rescue,environmental detection and resource exploration.An amphibious robot compounded with wheel and fin with the ability of self-adaptive climbing was proposed in this paper.The kinematic and dynamic mechanics of the self-adaptive climbing process was analyzed.The torque required of the critical obstacle crossing point was set as the objective function,and the optimized design structural and operational parameters were obtained by applying the genetic algorithm.Meanwhile,the climbing ability of the amphibious robot in this work was compared with others.The results illustrate that the required torque of the amphibious robot was reduced by 718.4 N·mm.The robot compounded with wheel and fin can climb the vertical obstacle of a larger height.The self-adaptive climbing process of the optimized robot was simulated.The simulation results illustrate that the variation of the propulsive velocity,the displacement and the torque in the processes of moving forward and climbing the obstacles.The experiments of the obstacle climbing was investigated for verifying the structural and operational parameters design.

关 键 词：两栖机器人 自适应 越障机器人 优化设计 

分 类 号：TH6[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]