高技术通讯2017，Vol.27Issue(3)：269-276,8.DOI:10.3772/j.issn.1002-0470.2017.03.010
水下蛇形机器人的滑翔运动性能研究
Research on the gliding performance of underwater snake-like robots
摘要
Abstract
By adopting underwater gliders'' strong endurance in ocean, and snake-like robots'' good maneuverability in water, a novel underwater gliding snake-like robot was developed, which has the motion performances of strong endurance and long range, as well as the good mobility and flexibility.The gliding motion performance of the designed underwater gliding snake-like robot was studied.First of all, the motion mechanism and joint structure of the robot were analyzed in the perspective of design.Secondly, the hardware and control system of the robot were structurally analyzed.The gliding motion equations of the robot were derived based on the theorem of momentum and moment of momentum, and they were simplified to a vertical plane.Finally, the simulation analysis of the equilibrium state was carried out, and the experimental verification to the movement ability was conducted.The experimental results demonstrate the effectiveness of the mechanism of the underwater gliding snake-like robot.关键词
水下蛇形机器人/水下滑翔蛇形机器人/动力学建模/水下机器人Key words
underwater snake-like robot/underwater gliding snake-like robot/dynamic modeling/underwater robot引用本文复制引用
唐敬阁,李斌,李志强,常健..水下蛇形机器人的滑翔运动性能研究[J].高技术通讯,2017,27(3):269-276,8.基金项目
国家自然科学基金(61333016)资助项目. （61333016）
