迷你模块化可重新配置的水下机器人,基于合成喷气机
Dehong Wang1, Fanheng Zhang1, Shijing Zhang1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|August 13, 2024
概括
这项研究介绍了一种新的模块化可重新配置的机器人系统,用于水下勘探. 利用合成喷气推进,机器人实现了敏捷的3D运动和适应各种水中任务的可适应配置.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 流体动力学 流体动力学
- 机械工程 机械工程
背景情况:
- 模块化可重新配置的机器人为在非结构化环境中进行探索提供了适应性和稳定性.
- 由于设计的局限性,小型水中机器人在运动和集成方面面临挑战.
研究的目的:
- 为水生机器人提出一种使用合成喷气推进的模块化策略.
- 开发一个紧的,无线控制的模块化可重新配置的机器人系统,用于水下应用.
主要方法:
- 使用振动电机设计了专门的底部和侧面喷气执行器.
- 开发了一个运动模块,集成执行器,电源,通信和控制系统.
- 配置多模块机器人系统,并进行运输和图像捕捉的实验.
主要成果:
- 实现了敏捷的3D运动,线性,旋转和上升速度分别为70.7 mm/s,3.3 rad/s和28.7 mm/s.
- 在一个紧的模块 (48mm x 38mm x 38mm) 中集成了必需的系统,用于无线控制.
- 证明了用于运输和图像捕获任务的功能配置.
结论:
- 合成喷气推进对于水上模块化可重新配置的机器人系统是有效的.
- 开发的系统显示了未来水下勘探和应用的巨大潜力.
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