混合动力多模式头足动物灵感的水下机器人
Zeyu Jian1,2,3, Qinlin Han1, Tongfu He1
1College of Engineering, Ocean University of China, Qingdao 266100, China.
Biomimetics (Basel, Switzerland)
|January 27, 2026
概括
这项研究介绍了一种由头足动物启发的新型机器人,具有混合动力驱动,可提高水下机动性. 它的设计允许在狭窄的浅水中实现多功能控制和适应性,用于复杂的观测任务.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 流体动力学 流体动力学
背景情况:
- 传统的水下车辆在机动性和适应性方面面临限制.
- 头足动物的运动为先进的水下机器人提供了灵感.
研究的目的:
- 提出和验证一种新的混合动力驱动,多式多态头足动物灵感的机器人.
- 提高水下车辆在狭窄环境中的机动性和适应性.
主要方法:
- 状波浪的集成用于推进和转向.
- 包括用于辅助爆发推进的水触手.
- 实现一个轮和机架重心 (CoG) 调节模块,用于调节距离.
主要成果:
- 波浪翼推力与振荡频率成正方形,与水力动力学理论相匹配.
- 证明了多个自由度的控制,包括通过CoG调整潜水和浮出水面.
- 实现了高机动性,转半径约为15厘米,并在浅水中验证了环境强度.
结论:
- 拟议的机器人表现出多功能机动能力和强大的适应性.
- 这种新的平台适合在狭窄和浅浅的环境中执行复杂的水下观测任务.
- 混合动力执行系统有效地解决了传统水下车辆的局限性.
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