水下滑翔机器人运动分析与载体设计

水下滑翔机器人是一种新型水下机器人,具有噪声低、航行距离远、续航时间长、成本低等特点。分析了水下滑翔机器人的驱动机理和运动实现,给出了水下滑翔机器人典型运动的仿真结果,并以正在设计的一水下滑翔机试验样机为研究对象,描述了样机的整体结构布局,详细研究了浮力调节机构、俯仰调节机构和横滚调节机构的实现方法,并就样机中各执行机构的设计实现进行了论述。

The underwater glider,a new kind of underwater vehicle,has the advantages of low-noise,long range,long duration and cost-efficiency.This paper analyzes the driving mechanism and motion realization of underwater gliders,presents the simulation result of its typical motion modes,then describes the overall arrangement of an underwater glider test model being designed,and finally discusses the design and selection of the glider's buoyancy adjusting mechanism,pitch adjusting mechanism and roll adjusting mechanism in detail.

国家自然科学基金资助项目(60405010);;中科院沈阳自动化研究所创新资助课题项目(F040605)