一种水下足式机器人的设计方案研究

Research on the Design Scheme of an Underwater Footed Robot

摘要:

海洋蕴含着丰富的自然资源，对海洋资源的合理开发与运用可以极大的缓解能源短缺问题，但由于海洋的复杂环境所带来的资源开发难度也不容忽略；针对这系列问题，对一种新型水下航行器进行研究，开展了水下足式机器人的总体设计分析，并通过三维建模对机器人进行结构设计；利用ANSYS对机器人关键运动部件进行应力分析，对机器人的设计进行完善；利用FLUENT软件进行流体模拟仿真，计算得到机器人腿部在水下运动时的受力特性；使用Adams软件对机器人的运动进行动力学仿真，计算机器人腿部扭矩输出特性；结合仿真结果对机器人的硬件系统进行选型，完成水下足式机器人的总体设计。

Abstract:

The ocean contains a wealth of natural resources, the rational development and utilization of marine resources can greatly alleviate the problem of energy shortage, but the difficulty of resource exploitation due to the complex environment of the ocean cannot be ignored; In response to this series of problems, a new type of underwater vehicle is studied, the overall design analysis of the underwater legged robot is carried out, and the structure analysis of the structure analysis of the robot is carried out through three-dimensional modeling; The stress analysis of the important moving parts of the robot is carried out by the ANSYS software, and the design of the robot is improved; Use FLUENT software to perform fluid simulation and calculate the torque output characteristics of the robot legs; Based on the simulation results, the hardware system of the robot is selected to complete the overall design of the underwater legged robot.