水下爬壁机器人腿部机构设计与分析  

Design and analysis of underwater wall-climbing robot’s leg mechanism

作　　者：杨旭 李露[2] 苑明海[1] 车航 曹凯[2] YANG Xu;LI Lu;YUAN Minghai;CHE Hang;CAO Kai(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 210098;Hefei Institute of Physical Science,Chinese Academy of Sciences,Hefei 230031)

机构地区：[1]河海大学机电工程学院,江苏常州210098 [2]中国科学院合肥物质科学研究院,安徽合肥230031

出　　处：《机械设计》2025年第2期23-31,共9页Journal of Machine Design

基　　金：GF科技创新特区项目(1716312ZT00400901)。

摘　　要：作业型水下爬壁机器人受水流阻力影响,要求运动平稳,作业时重心波动范围小。文中提出一种水下四足式爬壁机器人的设计方案,基于切比雪夫机构设计了一种双曲柄复合连杆式仿生腿爬行机构,分析了水下爬壁机器人的移动需求,采用轨迹圆滑,且支撑相为直线的一种组合曲线作为机器人足端运动轨迹。以预期规划轨迹复现为优化目标,基于GA算法和fmincon函数内点法计算得到腿部连杆的最优尺寸参数。通过虚拟样机仿真分析机器人速度和加速度等运动性能。最后,搭建腿部机构试验平台,实测结果表明,足端轨迹实现和机器人移动时重心波动性达到设计需求。The operational underwater wall-climbing robot is affected by water flow resistance,which requires smooth movement and small fluctuation range of gravitycentre during operation.In this article,a design scheme of the underwater quadruped wall-climbing robot is proposed.Based on the Chebyshev mechanism,the double-crank composite connecting-rod bionic-leg climbing mechanism is designed.Efforts are made to explore the requirements of the underwater wall-climbing robot’s motion;a combination curve with smooth track and straight support phase is adopted as the robot’s motion trajectory at its foot end.The optimal size parameters of the leg connecting-rodare calculated with the help of the GA algorithm and the fmincon function interior point method.The virtual prototype is simulated,in order to identify the robot’s velocity and acceleration.Finally,an experimental platform of theleg mechanism is set up.The measured results show that the robot enjoys desirable trajectory at its foot end and the gravity centre fluctuates in a proper manner when the robot is moving around.

关 键 词：水下四足式爬壁机器人 腿部机构 轨迹规划 复合连杆机构 重心波动性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]