新型仿鳐鱼水陆两栖机器人的结构设计、运动学建模与运动规划  

Structure design,kinematic modeling,and motion planning of novel ray-inspired amphibious robots

作　　者：王雪兵 吴庆祥 王奕轩 邬雅轩 孙宁 WANG Xuebing;WU Qingxiang;WANG Yixuan;WU Yaxuan;SUN Ning(Institute of Robotics and Automatic Information Systems(IRAIS),College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Institute of Intelligence Technology and Robotic Systems,Shenzhen Research Institute,Nankai University,Shenzhen 518083,China)

机构地区：[1]南开大学人工智能学院机器人与自动信息系统研究所,天津300350 [2]南开大学深圳研究院智能技术与机器人系统研究院,深圳518083

出　　处：《工程科学学报》2024年第9期1594-1603,共10页Chinese Journal of Engineering

基　　金：国家自然科学基金资助项目(52205019,62373198);天津市杰出青年科学基金资助项目(22JCJQJC00140);广东省基础与应用基础研究基金资助项目(2023A1515012669);中国博士后科学基金面上资助项目(2021M701779)。

摘　　要：跨介质作业机器人在灾害救援、环境探测、军事侦查等方面具有显著优势,但现有水陆两栖机器人依赖于两套或多套驱动系统,结构复杂、维护成本高,且额外的驱动系统切换将增加控制难度与作业时间.为此,本文设计了一种新型的行波驱动仿鳐鱼水陆两栖机器人(Wave-inspired actuated ray-inspired amphibious robot,WARAR).首先,设计了一种具有高越障能力的行波驱动机构.基于此,设计了一种仿鳐鱼柔性鳍,将行波机构驱动力转换为水中游动的推进力,从而实现单一驱动系统同时满足陆地和水中运动的双重目标.随后,建立了WARAR的运动学模型,并提出了一种跨水陆介质轨迹规划方法.最后,自主搭建了WARAR的实验平台,并对所设计机器人的移动、爬坡、转向、游动等性能进行了充分测试.此外,验证了所设计跨水陆介质作业轨迹规划方法的有效性.Cross-media operating robots are versatile machines that can move and perform tasks in various environments such as air,water,and land.These robots are highly adaptable and flexible,making them useful in a wide range of applications,including exploration,marine research,environmental monitoring,military reconnaissance,industrial and infrastructure maintenance,and emergency response.Cross-media operating robots need to switch corresponding movement modes in different environments,such as using buoys or propellers in water and wheels or legs on land.However,existing amphibious robots often have complex structures and high maintenance costs because they rely on multiple sets of actuated systems,which leads to increased difficulty in control and longer operating times.To address these challenges,this study presents a novel wave-inspired actuated ray-inspired amphibious robot(WARAR).The WARAR design includes a wave-inspired actuated mechanism that transforms motor rotation into sinusoidal waves by passing a spiral rod through movable hinges arranged side by side,resulting in better mobility and obstacle-crossing capability.Two of t hese mechanisms are arranged side by side,enabling WARARs to adopt the differential principle for steering control.Based on this principle,a flexible ray-inspired fin is designed to transform the actuated force of the wave-inspired mechanisms into a propulsion force for swimming in the water by connecting the supporting bone to one end of the movable hinge and covering it with flexible silicone rubber.Moreover,by utilizing the two structures,a new type of WARAR that only requires control of the wave-inspired mechanism for operation on land,in water,and during transitions between the two is designed.Furthermore,a suitable electronic control room is designed to make the electronic control system of WARAR waterproof that can also be sealed to provide buoyancy.Specifically,WARARs are mainly fabricated through three-dimensional printing,which effectively reduces weight.The simple actuated system

关 键 词：仿鳐鱼机器人 水陆两栖机器人 行波驱动机构 仿鳐鱼柔性鳍 轨迹规划 

分 类 号：TG142.71[一般工业技术—材料科学与工程]