蛇形机器人水中上浮下潜运动仿真研究

摘要

根据水下环境特征,研究蛇形机器人在水中三维空间的运动步态.基于虚拟机器人实验平台(V-REP)动力学仿真软件搭建了具有垂直和水平关节的蛇形机器人模型,在蛇形曲线生成蜿蜒运动的基础上,采用逐节升降法实现了水中的上浮下潜运动步态.分析了蛇形机器人在水中运动过程中的位态、受力、关节力矩及运动效率的状况,为蛇形机器人水中运动的实用化提供数据参考,同时验证了逐节升降法实现蜿蜒下潜上浮的有效性.%The three-dimensional gait of a snake-like robot moving in water was studied according to underwater environment characteristics.A model for underwater snake-like robots with vertical and horizontal joints was established based on the dynamic simulation software called the virtual robot experimental platform (V-REP).Based on the serpenoid curve,the model's depth in water was changed step by step to realize the rising and diving motions.The position,exerted force,joint torque and motion efficiency of snake-like robots moving in water were analyzed to provide practical referential data for practicalizing them.Besides,the effectiveness of the method for 3D space motion was verified.