一种新型锚泊机器人研究

近年来，为了提高船舶的安全性和稳定性，锚泊机器人成为了海洋领域的研究热点。鉴于大西洋蛏的诸多优良性能，将以其为仿生对象来构建集掘进、锚定和自主脱附功能于一体的锚泊机器人本体。首先，阐述了锚泊机器人的国内外相关研究现状；其次，对仿大西洋蛏的锚泊机器人的机械设计进行原理性说明；最后，将重点介绍锚泊机器人的控制系统。实验结果表明，该控制系统能够使锚泊机器人完成掘进、锚定及自主脱附，并形成较大的锚定比。

Research on a new type of the anchoring robot

In recent years, in order to improve the safety and stability of ships, anchoring robots have become a research hotspot in the marine field. In view of the many excellent properties of the Atlantic razor clam, this article will use it as a bionic object to construct an anchoring robot body that integrates the functions of excavation, anchoring and autonomous detachment. Firstly the current research status of mooring robots at home and abroad is explained. Secondly, the mechanical design of the anchoring robot imitating the Atlantic razor is explained in principle. Finally, it will focus on the control system of the mooring robot. Experimental results show that the control system can enable the anchoring robot to complete excavation, anchoring and autonomous detachment, and form a larger anchoring ratio.