仿海鬣蜥水陆两栖机器人系统设计  

System Design of Bionic Marine Iguanas Amphibious Robot

作　　者：卢明 袁玥 吴政睿 胡睿萱 周群超 陈刚[1] 张晶晶 施建伟 LU Ming;YUAN Yue;WU Zhengrui;HU Ruixuan;ZHOU Qunchao;CHEN Gang;ZHANG Jingjing;SHI Jianwei(Zhejiang Sci-Tech University,Hangzhou Zhejiang 310018,China;Zhejiang CathayBot Technology Co.,Ltd.,Jinhua Zhejiang 321035,China)

机构地区：[1]浙江理工大学,浙江杭州310018 [2]浙江凯富博科科技有限公司,浙江金华321035

出　　处：《机床与液压》2023年第15期26-34,共9页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51875528);国家级大学生创新创业训练计划项目(202210338043)。

摘　　要：为了满足军事中对水陆两栖可视环境的探测需求,以海鬣蜥为仿生对象设计一款适合水陆两栖环境的仿生机器人。利用SolidWorks软件建立仿海鬣蜥水陆两栖机器人的三维模型,并设计其控制系统。进一步对机器人爬行步态和游动步态进行设计和分析,通过STM32控制器控制舵机、电机、摄像头等执行部件,实现了仿海鬣蜥机器人的陆地爬行和水中游动。通过样机实验验证了该仿生机器人运动灵活、系统运行稳定,具备良好的水陆两栖环境运动和探测能力。In order to meet the requirements of exploration of amphibious visual environment in military,taking the marine iguanas as the bionic object,a bionic robot suitable for amphibious environment was designed.The three-dimensional model of the bionic marine iguana amphibious robot was established by SolidWorks software,and its control system was designed.The crawling and swimming gaits of the robot were further designed and analyzed.The actuator,motor and camera were controlled by the STM32 controller to realize the crawling and swimming motion of the bionic marine iguana robot.Through the prototype experiment,the bionic robot has flexible movement,stable system operation,and good amphibious environment movement and detection ability.

关 键 词：仿生机器人 结构设计 步态规划 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]