两栖机器人轮桨腿驱动机构多目标优化设计

提出了一种既能够在陆地上爬行,又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人;多运动模式和复合移动机构是该机器人的突出特点.分析了轮桨腿复合式驱动机构的运动机理,并采用多目标优化设计理论和算法,对驱动机构的爬行性能和浮游特性进行了综合优化,得到了两栖机器人驱动机构的结构优化参数.虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好,对非结构环境具有一定的适应能力。

The wheel-propeller-leg integrated amphibious robot is presented as a new type of robot,which can crawl on land and swim underwater in certain depth or creep on ocean floor.The multi-locomotion modes and compound mobile mechanism are the main traits of the amphibious robot.The motion principle of the wheel-propeller-leg integrated driving mechanism is analyzed,and the multi-objective optimization theory and algorithm are adopted to comprehensively optimize the driving performance of both crawl and swim.As a...

国家自然科学基金资助项目(60605029); 国家863计划资助项目(2006AA04Z232)