摘要
深海机器人是深海工程领域的重要装备。对比分析目前已研制的深海机器人的特点,以深海复杂海底大范围移动和精确稳定探测作业为应用目标,提出一种既可在深海游动又可在海底爬行的新型爬游机器人概念,并对爬游机器人方案、技术指标和主要特点进行介绍。在分析其使用环境和运行特点的基础上,提出不同于传统水下机器人的爬游机器人特有的关键技术问题,包括运动姿态调节、多肢多关节协同抗扰流、低能耗运动规划、运动关节高压密封以及总体集成与优化等。最后,介绍这些关键技术问题的研究进展。
The deep-sea robot is very useful in deep sea engineering.Based on a comparison and analysis of current deep-sea robots,this paper proposes a novel concept for a deep-sea walking-swimming robot,the purpose of which is to swim extensively in the sea and walk stably on the seafloor.The overall proposal,specifications and characteristics of the deep-sea walking-swimming robot are introduced.After an analysis of its environment and function characteristics,such key techniques as the regulation of the robot's walking/swimming attitude,cooperative current anti-turbulence of multi-legs and multi-joints,path planning for low energy consumption,dynamic seal of deep-sea joints and integration and optimization of the overall design are presented,showing that it is quite different from traditional underwater and multi-foot robots.Finally,the research progress of the above-mentioned techniques is also presented.
作者
陈虹
王心亮
魏伟
刘智
马哲松
郑超
唐平鹏
CHEN Hong;WANG Xinliang;WEI Wei;LIU Zhi;MA Zhesong;Zheng Chao;TANG Pingpeng(Wuhan Second Ship Design and Research Institute,Wuhan 430205,China)
出处
《中国舰船研究》
CSCD
北大核心
2018年第6期19-26,共8页
Chinese Journal of Ship Research
基金
国家重点研发计划资助项目(2016YFC0301700)
关键词
深海工程
深海潜水器
深海爬游机器人
deep sea engineering
deep-sea submersible
deep-sea walking-swimming robot
作者简介
陈虹(通信作者),男,1973年生,博士,研究员。研究方向:控制理论与控制工程。E-mail:chenhong22001@163.com.
