水下无人系统学报2024，Vol.32Issue(6)：1063-1071,9.DOI:10.11993/j.issn.2096-3920.2023-0167
水陆两栖机器人螺旋推进性能研究
Research on Screw Propulsion Performance of Amphibious Robot
摘要
Abstract
The traditional amphibious locomotion mode mainly features the dual system of wheel or track combined with a propeller.In contrast,single-system amphibious locomotion mode has become a research hotspot in recent years because of its low system complexity and high efficiency.As a single-system amphibious locomotion mode,screw propulsion has good adaptability in semi-fluid environments such as swamp and mud flat.Over the years,there have been many research designs on its driving on land,but few studies on its driving in water.In this paper,the underwater performance of the screw propulsion device was studied,and the design method of the screw cylinder was proposed according to the principle of screw propulsion.The hydrodynamic simulation method was used to calculate the thrust of the screw cylinder at different submerged depths,and it was found that the thrust generated by the screw cylinder was the largest at 0.9 times the submerged depth.Based on the self-designed and developed amphibious robot prototype,the underwater propulsion test was carried out,and the results show that the underwater screw cylinder propulsion state is stable.In addition,the response surface method is used to optimize the design of the screw cylinder from the two aspects of screw blade height and pitch,and the optimization results can increase the propulsion efficiency by 18.2%compared with the original design scheme.关键词
水陆两栖机器人/螺旋推进/水中性能/水动力仿真Key words
amphibious robot/screw propulsion/underwater performance/hydrodynamic simulation分类
军事科技引用本文复制引用
徐鹏飞,王子鹏,林海龙,开艳,胡桥,苏建业..水陆两栖机器人螺旋推进性能研究[J].水下无人系统学报,2024,32(6):1063-1071,9.基金项目
国家自然科学基金面上项目(52071131) （52071131）
江苏省海洋科技创新项目(HY2018-15) （HY2018-15）
国家重点研发计划(2021YFC2801604、2022YFC2806002)资助. （2021YFC2801604、2022YFC2806002）
