共查询到16条相似文献,搜索用时 93 毫秒
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两栖仿生机器人的研究是当前新兴的一个热点,它是军用机器人研究的一个重要分支。提出一种两栖仿生机器人的设计思路,确定了一些关键参数,如电机、游动机构等。并对两栖机器人仿鱼游动的运动学进行建模,最终通过实体仿真验证方案的可行性。 相似文献
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为解决传统两栖机器人的一些突出缺点,探寻机器人领域更多的可能性。本文设计了一种新型仿生球形两栖子母机器人系统,该系统中球形两栖母机器人在陆地采用仿生四足爬行方式运动,在水下采用矢量喷水电机进行喷水推进,无噪声,增加隐蔽性,并为微型子机器人提供控制信号和能源。微型子机器人陆地采用轮式驱动,设计了可以实现水陆两栖的桨叶轮。该子母机器人系统通过XBee通信模块实现无线通信。通过进行的子母机器人的陆地和水下运动试验,验证了设计的子母机器人系统的有效性。 相似文献
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将GPS技术用于水陆两栖机器人自主运动控制,设计了一种基于嵌入式操作系统,用于水陆两栖机器人导航的GPS系统。首先构建了GPS硬件系统,然后研究了基于ARM的GPS接收机的数据提取及处理的软件实现方法;在此基础上,采用高斯投影算法,将WGS—84转换至平面坐标,实现了对两栖机器人运动轨迹的连续监控。 相似文献
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针对浅滩环境和水下狭窄空间的科研考察、资源勘探等任务,提出一种“腿-多矢量喷水”复合驱动的小型两栖仿龟机器人。通过研究“腿-多矢量喷水”复合式驱动系统的运动机理,设计仿生爬行步态和旋转步态。根据“腿-多矢量喷水”复合驱动机构的变结构特性,提出“H”、“工”和“X”等多模式运动。通过机器人水中运动学建模,建立基于实时动态推力矢量分配优化机制的水中3维自主运动控制方法。最后搭建机器人原型机,陆地上的多地形运动实验验证了机器人在非结构化浅滩环境中的适应能力强,水中运动控制实验验证了两栖机器人多模式运动控制的灵活性和可行性。 相似文献
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面向北京冬奥会对机器人跨域火炬传递的需求,研发水陆两栖机器人、水下变结构机器人、空中飞行机器人、地面机器人、冰雪面六足机器人和助力外骨骼机器人等6型面向火炬接力的系列机器人,利用这些机器人可在地面、空中和水下完成火炬传递。最终,根据北京2022年冬奥会火炬接力路线方案的调整,将水陆两栖机器人、水下变结构机器人和水下特种火炬应用于北京2022年冬奥会火炬传递活动中,实现了奥运史上首次机器人与机器人之间的水下火炬传递;助力外骨骼机器人应用于北京2022年冬残奥会火炬传递活动中,残疾人代表使用下肢助力外骨骼进行了火种汇集,两位残疾人火炬手分别借助上肢和下肢助力外骨骼机器人一起进行了火炬传递,传递出“科技改变生活”的理念,体现出“技术温暖人心”的精神。 相似文献
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Yi Sun 《Advanced Robotics》2013,27(8):611-625
Most of recently developed rescue robots can only be deployed to limited attacked regions after tsunami and the floods, due to their limited mobility on complex amphibious terrains. To access such amphibious environments with improved mobility, we propose a novel eccentric paddle mechanism (ePaddle) which has a set of paddles eccentrically placed in a wheel to perform multiple terrestrial, aquatic, and amphibious gaits. One of the advantages of our proposed ePaddle mechanism is its unique locomotion versatility introduced by the eccentric distance between the paddle shaft and the wheel center. We demonstrate this versatility by proposing five typical gaits for traveling on different terrains. For instance, wheeled rolling gait is used to achieve high-speed locomotion on even terrain. Legged gait is applied to travel on the rough terrains. To access the soft terrains where wheels slip and legs sink, a wheel-leg-integrated gait is performed by digging the paddle into the ground. To swim in the water, rotational paddling and oscillating paddling gaits are proposed. For each of these gaits, standard gait sequence is defined and joint parameters are calculated based on kinematics. An ePaddle prototype is then built and tested with the proposed gait sequences. Experimental results verify the design of the ePaddle mechanism as well as its versatile gaits. 相似文献
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Amphibious micro-robots are being developed for complicated missions in limited spaces found in complex underwater environments. Therefore, compact structures able to perform multiple functions are required. The robots must have high velocities, long cruising times, and large load capacities. It is difficult to meet all these requirements using a conventional underwater micro-robot, so we previously proposed an amphibious spherical father–son robot system that includes several micro-robots as son robots and an amphibious spherical robot as a father robot. Our father robot was designed to carry and power the son robots. This paper discusses improvements to the structure and mechanism of the father robot, which was designed to have a spherical body with four legs. Based on recent experiments in different environments, we have improved the father robot by adding four passive wheels, and we have redesigned its structure by means of three-dimensional printing technology, resulting in greatly improved velocity and stability. Moreover, due to the complexity and uncertainty of many underwater environments, it is essential for the father robot to have adequate structural strength. We analyzed the movement mechanisms and structural strength using finite element analysis to obtain the deformation and equivalent stress distributions of the improved robot. The results provide support for further analysis of the structural strength and optimal design of our amphibious spherical father robot. 相似文献
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Microsystem Technologies - Aiming at application requirements of our small-scaled spherical amphibious robots, a visual positioning system adopting the model of depth image and feature fusion was... 相似文献
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In this paper, a novel eccentric paddle locomotion mechanism (ePaddle) has been proposed to enhance the mobility of amphibious robots for multi-terrains tasks with diverse locomotion gaits. The oscillating paddling gait of the ePaddle mechanism enables the robot to perform stationary observation or attitude maneuvering operations in shallow water. To increase the thrust generated by this gait, the ePaddle mechanism has a flexible configuration, i.e. a flexible paddle and three rigid paddles. The effects of the oscillating amplitude and period of the gait to thrust are analyzed and compared with the thrusts measured with rigid configuration. Experimental results demonstrate that the flexible configuration is able to produce much more net thrust than the rigid configuration when the ePaddle is oscillating at large amplitude. 相似文献
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He Yanlin Zhu Lianqing Sun Guangkai Qiao Junfei Guo Shuxiang 《Microsystem Technologies》2019,25(2):499-508
Microsystem Technologies - Information exchanges and cooperative movements of multi robots have become a hot topic in robotics. To improve the performance and working efficiency of our amphibious... 相似文献
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Microsystem Technologies - This paper presents a new type of amphibious spherical robots. The robot includes four drive units. Each drive unit consists of two servo motors, a water-jet propeller, a... 相似文献