水陆两栖机器人水下动力学建模及操纵性研究

Research on Underwater Dynamics Modeling and Maneuverability of Amphibious Robots

摘要:

针对多模态水陆两栖机器人作业环境复杂使得水下运动状态难以预报等难题,基于CFD方法求解的水动力系数,构建了机器人水下运动的五自由度动力学和运动学模型。基于机器人水下动力学模型,采用四阶经典龙格库塔法,开展了机器人直航运动及水平面回转运动数值仿真研究,并进行了水池试验验证。试验结果数据与数值仿真结果误差均不超过10%,验证了机器人水动力系数及五自由度动力学模型的准确性,为水陆两栖机器人研制提供了理论与技术支撑。

Abstract:

In view of the difficulties in predicting the underwater motion state of multimodal amphibious robot and the complex working environment, a five degree of freedom dynamic and kinematics model of the underwater motion of the robot was constructed based on the hydrodynamic coefficient solved by CFD method. Based on the underwater dynamics model of the robot, the fourth order classical Runge-Kutta methods is used to conduct numerical simulation research on the direct sailing motion and horizontal rotation motion of the robot, and experiments are designed for verification. The error between the experimental data and the numerical simulation results does not exceed 10%, which verifies the accuracy of the robot"s hydrodynamic coefficient and five degree of freedom dynamic model, providing reliable theoretical guidance for robot development.