一种轮桨腿一体的复合式水陆两栖机器人  

An Amphibious Robot with an Integrated Wheel-propeller-leg Composite System

作　　者：胡盛涛 李露[2] HU Shengtao;LI Lu(School of Mechanical and Electrical Engineering,Anhui Jianzhu University,Hefei Anhui 230601,China;Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou,Jiangsu 213164,China)

机构地区：[1]安徽建筑大学机械与电气工程学院,安徽合肥230601 [2]中国科学院合肥物质科学研究院先进制造技术研究所,江苏常州213164

出　　处：《佳木斯大学学报(自然科学版)》2025年第2期17-19,26,共4页Journal of Jiamusi University:Natural Science Edition

基　　金：2024年安徽省自然科学基金项目(2408085MF158);2022年淮北市科技重大专项揭榜挂帅项目(HK2022AA001)。

摘　　要：针对水陆两栖复杂多变的作业环境,提出了一种多模式运动的水陆两栖机器人设计方案。该机器人仅依靠一种轮桨腿一体的复合移动机构,就可在水陆两栖场景下运动。复合式车轮基于行星轮机构设计,可由圆形轮变形切换为桨叶腿轮。对机器人进行了整体结构设计、越障性能分析,利用流体分析计算了桨叶腿在水下的推水性能。并制作了两栖机器人的实物样机,验证了整机机构的可行性和有效性。In response to the complex and variable operational environments of amphibious terrains,a design scheme for an amphibious robot capable of multi-mode motion has been proposed.This robot relies solely on a wheel-paddle-leg integrated composite mobility mechanism to navigate in both aquatic and terrestrial scenarios.The composite wheel,designed based on a planetary gear mechanism,can transform from a circular wheel to a paddleleg wheel.The robot has undergone comprehensive structural design and obstacle-crossing performance analysis,with fluid analysis employed to calculate the underwater propulsion performance of the paddle-leg.A physical prototype of the amphibious robot has been manufactured to verify the feasibility and effectiveness of the entire mechanism.

关 键 词：轮桨腿一体 水陆两栖机器人 多模式运动 复合移动机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]