Volume 39, Number 3, June 2021
|Page(s)||685 - 693|
|Published online||09 August 2021|
Research on the water and land motion performance of an amphibious vehicle
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
2 The 208 th Research Institute of China Ordnance Industry, Beijing 100081, China
The key motions of land and water are analyzed for a designed amphibious carrier robot. On land, based on the characteristics of the multi-joint crawler, the robot has planned two gaits for climbing steps on land. The kinematic models of climbing steps and climbing steps are established for the two planned gaits, and the maximum height that the robot can climb steps is obtained based, Based on the laws of dynamics, the stability equation of the robot under strong transient impact is established to obtain the conditions for the robot to maintain its own stability when the robot is under strong transient impact during traveling, which provides a theoretical basis for the attitude control of the robot arm. In the water, the fluid numerical method is used to simulate the underwater motion of the robot's swing arm in the extended and retracted state, obtain the traveling resistance and surface pressure of the robot's swing arm crawler in the two states, analyze the relationship between the robot's traveling resistance and speed, obtain the relationship expression between the robot's traveling resistance and the traveling speed, and provide data support of the state selection and speed setting of the robot's underwater crawler.
Key words: amphibious / robot / stair climbing / stability / travel resistance
关键字 : 水陆两用 / 机器人 / 爬台阶 / 稳定性 / 行驶阻力
© 2021 Journal of Northwestern Polytechnical University. All rights reserved.
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