小型陆空变形两栖机器人的设计与分析  

Design and analysis of small land-air deformable amphibious robot

作　　者：杨展 李其朋 唐威 秦可成 陈岁繁 王铠迪 刘阳 邹俊[2] YANG Zhan;LI Qipeng;TANG Wei;QIN Kecheng;CHEN Suifan;WANG Kaidi;LIU Yang;ZOU Jun(School of Mechanical and Energy Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]浙江科技学院机械与能源工程学院,浙江杭州310023 [2]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [3]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《工程设计学报》2023年第3期325-333,共9页Chinese Journal of Engineering Design

基　　金：全国博士后创新人才支持计划项目(BX20220267);浙江省科技厅领雁项目(2022C04022)。

摘　　要：多功能小型机器人具有广阔的应用前景。为满足不同的作业需求,设计了一种小型陆空变形两栖机器人,其既可以实现高效的地面移动,又能通过升空飞行来避开障碍物。该机器人采用双模式设计,地面模式采用两轮驱动的运动设计,飞行模式采用四旋翼飞行设计,2种模式的切换通过机器人倾转机构的支撑、伸展来实现。为了验证机器人的运动性能,首先采用SolidWorks软件建立了机器人整机模型,并对机器人进行运动学建模,推导得到了机器人模式切换过程的运动学方程。然后,对机器人舵机输出进行MATLAB仿真和开展机器人物理样机模式切换实验,得到的输出扭矩仿真结果与实测结果基本一致,其范围为0~250 N·cm。最后,利用机器人物理样机开展地面移动和空中飞行测试,并对其运动过程进行分析,以验证机器人陆空运动及模式切换的稳定性。研究结果验证了所设计机器人的有效性,且其具有较长的续航时间,可为陆空两栖机器人的设计提供参考。Multi-functional small robots have broad application prospects.To meet different operational requirements,a small land-air deformable amphibious robot was designed,which could achieve efficient ground movement and avoid obstacles through takeoff flight.The robot adopted a dual-mode design,in which the ground mode adopted a two-wheel drive motion design,and the airplane mode adopted a fourrotor flight design.The switching between the two modes was realized through the support and extension of the robot tilting mechanism.In order to verify the motion performance of the robot,the whole robot model was established by SolidWorks software,the kinematics modeling for the robot was carried out,and the kinematics equation of the robot mode switching process was derived.Then,the robot servo output was simulated by MATLAB and the robot prototype mode switching experiment was carried out.The simulation results of the output torque were basically consistent with the measured results,with a range of 0-250 N·cm.Finally,the robot prototype was used to conduct ground movement and air flight tests,and its motion process was analyzed to verify the stability of the land-air motion and mode switching of the robot.The research results verify the effectiveness of the designed robot,and it has a long endurance,which can provide a reference for the design of land-air amphibious robots.

关 键 词：两栖机器人 两轮驱动 运动学建模 稳定性 

分 类 号：TH122[机械工程—机械设计及理论]