摘要
环境的污染给海洋生态带来的巨大变化会对人类的生活造成严重的影响,研究仿生机器人实时监测海滩环境能够有效解决该问题.因此,提出了一种绳索驱动柔性骨骼仿生蟹机器人.首先,建立刚柔耦合模型研究柔性足端的运动规律.其次,研究基于手机应用程序(application,APP)的仿生蟹控制方法,并实验研究仿生蟹机器人的响应特性和运动特性.然后,测试仿生蟹在多种沙滩上的越障能力,并同时控制多只仿生蟹以测试手机APP的集群控制性能.最后,利用该机器人实现渤海湾6个海滩环境的监测,并捕捉海滩环境图像和参数.该仿生蟹机器人的研究为海滩环境监测提供了一种有效的方法.
Environmental pollution has brought great changes to the marine ecology and will have a serious impact on human life.Investigation of bionic robots to monitor the beach environment in real time can effectively solve this problem.Therefore,a cable‑driven flexoskeleton bionic crab robot is proposed.Firstly,a rigid‑flexible coupling model is established to study the motion law of the flexible foot end.Secondly,control method of the bionic crab based on a mobile phone application(APP)is studied,and the response characteristics and motion characteristics of the bionic crab robot are experimentally studied.Then,the obstacle‑crossing ability of the bionic crab on various beaches is tested,and multiple bionic crabs are controlled simultaneously to test the cluster control performance of the mobile phone APP.Finally,the robot is used to monitor six beaches in Bohai Bay and capture beach environment images and parameters.The research on the bionic crab robot provides an effective method for beach monitoring.
作者
陈晓明
陈大川
赵玉倩
李程
CHEN Xiao-ming;CHEN Da-chuan;ZHAO Yu-qian;LI Cheng(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China;Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China;Tianshui Power Supply Company State Grid Gansu Electric Power Company,Tianshui 741000,China.)
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2024年第10期1443-1451,共9页
Journal of Northeastern University(Natural Science)
基金
河北省自然科学基金资助项目(A2022501004,F2020501040)
中央高校基本科研业务费专项资金资助项目(N2223013).
作者简介
通信作者:陈晓明(1990-),男,河南郑州人,东北大学秦皇岛分校讲师,博士.E-mail:chenxiaoming@neuq.edu.cn
