微型自主水下机器人折叠天线设计  

Design of a folding antenna for micro autonomous underwater vehicles

作　　者：韩涛 杨翊[2,3] 王全山[1,2,3] 胡志强 李艳杰 HAN Tao;YANG Yi;WANG Quan-shan;HU Zhi-qiang;LI Yan-jie(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;The State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《舰船科学技术》2023年第18期92-98,共7页Ship Science and Technology

摘　　要：为减少天线部件对自主水下机器人造成的额外航行阻力,解决现有升降、折叠天线机构不适用于微型自主水下机器人的问题,设计一种适用于微型自主水下机器人的折叠天线。通过CFD仿真对比了天线机构升起或折叠状态下微型自主水下机器人的航行阻力,结果表明,折叠天线折叠后可减少不小于34.26%的航行阻力,验证了折叠天线对于微型自主水下机器人减小水下航行阻力的有效性。通过对折叠天线机构的运动学与动力学仿真,可知天线机构升起过程中所需最大驱动力矩为0.51 kg·cm,该数值小于天线机构选用驱动舵机的额定输出扭矩,验证了设计方案的可行性。最后,通过微型自主水下机器人样机湖上试验,验证了折叠天线机构处于升起状态时接收WiFi、无线电和GPS信号的稳定性,天线机构折叠时微型自主水下机器人能够实现水下定向、定深航行功能。In order to reduce the additional navigation resistance caused by the antenna components to the Autonomous Underwater Vehicles and to solve the problem that the traditional lifting and folding antenna mechanism is not suitable for the micro Autonomous Underwater Vehicle,a folding antenna suitable for the micro AUV was designed.With CFD simula-tion,the navigation resistance of the micro autonomous underwater vehicle was compared under the conditions that the an-tenna mechanism is raised or folded.The result showed that the navigation resistance of the folded antenna can be reduced by more than 34.26%.It verified the effectiveness of the folded antenna for reducing the navigation resistance.With the kinemat-ics and dynamics simulation of the folded antenna mechanism,the maximum driving torque required by the antenna mechan-ism in the lifting process is 0.51kg.cm,which is less than the rated output torque of the steering gear selected.It verified the feasibility of the design.Finally,the stability of receiving WiFi,radio and GPS signals when the antenna is raised was veri-fied by the lake test of the micro AUV prototype.It was also verified that the micro AUV can accomplish underwater orient-ation and depth navigation when the antenna mechanism was folded.

关 键 词：折叠天线 微型自主水下机器人 机构设计 CFD仿真 运动学与动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]