多功能两栖生物型子母机器人系统研究

 对于水陆两栖及其过渡环境中狭小空间内的勘测,微小型水陆两栖机器人能够完成许多单一推进方式的机器人所无法完成的两栖任务,如水下管道的检测、珊瑚礁内鱼类的监测、水下岩缝中矿物采样等,因此需要一种能够具有微型结构、多功能运动模式、高位置精度、长续航时间等特点的机器人,以适应复杂两栖环境。提出一种两栖子母机器人设计方案。其中,两栖母机器人采用腿-矢量化喷水两栖推进,利用一套驱动系统实现两栖运动,以降低机构和控制的复杂度,增大其负载能力。两栖推进机构和机器人外形可以根据介质环境以及任务特点的改变,进行主动的形态与结构变化。微型子机器人由人工智能驱动器驱动,可以实现游行、爬行、转动、上浮/下潜、抓取等动作。母机器人和子机器人之间通过智能软缆线连接,实现子母机器人之间的通信及子机器人的回收。

Study on an amphibious biomimetic father-son robot system with multi-functions

An amphibious robot with a small size may complete the tasks in amphibious and transition environments, such as pipe detection, fishes monitoring, mineral collection, object recovery and so on, which a single propulsion mechanism robot cannot implement. So, the robots that possess the attributes of compact structure, multi-functionality, precise positioning, and attributes of long endurance are of great interest to researchers. A father-son robot system is proposed in this research that is composed of an amphibious spherical father robot and several son robots. The father robot is actuated by a leg-water jet composite propulsion mechanism. By utilizing one composite propulsion mechanism, the father robot can achieve the amphibious motion, which may increase the load capability and reduce the complexities of the mechanism and control system. It can adjust its shape and propulsion mechanism automatically according to the environment. The son robots can implement swimming, walking, rotating, floating/diving, and grasping motions, which are actuated by the smart actuators. The father robot and each son robot are connected by a smart cable, which can be used for communication between the father robot and its son robot. Also, the smart cable can be used to recover the son robot.