一种小型陆空两栖机器人的选型分析与结构设计
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摘要
为了适应灾害救援、资源勘探、野外侦查等复杂作业、复杂场景、复杂地形产生的特殊需求,文章研究了一种小型陆空两栖机器人的总体构型及其结构设计;首先根据该机器人要能实现陆地低角度侦查和空中高角度侦查的使用需求,确定该机器人要兼具地面运动能力和空中运动能力,其功能是地面机器人和飞行机器人的有机结合,据此分别探讨了一体式和组合式两种设计方案,进行了机构的构型分析;在一体式构型方案中,对两自由度结构腿和三自由度结构腿分别进行了阐述与分析;最后综合对比了一体式构型方案和组合式构型方案,通过对优缺点的综合对比,得出组合式构型方案在功能性、实用性和稳定性等方面具有明显优势,为该机器人物理样机的研制提供了可靠、可信的依据。
In order to adapt to the special needs of complex operations such as disaster relief,resource exploration,field investigation,complex scenes and complex terrain,this paper studies the overall configuration and structure design of a small amphibian robot.Firstly,according to the robot's need to achieve low-angle detection of the land and high-angle detection in the air,it is determined that the robot must have both ground motion capability and airborne motion capability.Its function is the organic combination of ground robot and flight robot.The integrated design and the combined design scheme were used to analyze the configuration of the mechanism.The two-degree-of-freedom structure legs and three-degree-of-freedom structure legs are discussed and analyzed respectively.Finally,a comprehensive comparison is made between the integrated configuration scheme and the combined configuration scheme.Through the comprehensive comparison of advantages and disadvantages,it is concluded that the combined configuration scheme has obvious advantages in terms of functionality,practicability and stability,providing a reliable and credible basis for the development of the physical prototype of the robot.
In order to adapt to the special needs of complex operations such as disaster relief,resource exploration,field investigation,complex scenes and complex terrain,this paper studies the overall configuration and structure design of a small amphibian robot.Firstly,according to the robot's need to achieve low-angle detection of the land and high-angle detection in the air,it is determined that the robot must have both ground motion capability and airborne motion capability.Its function is the organic combination of ground robot and flight robot.The integrated design and the combined design scheme were used to analyze the configuration of the mechanism.The two-degree-of-freedom structure legs and three-degree-of-freedom structure legs are discussed and analyzed respectively.Finally,a comprehensive comparison is made between the integrated configuration scheme and the combined configuration scheme.Through the comprehensive comparison of advantages and disadvantages,it is concluded that the combined configuration scheme has obvious advantages in terms of functionality,practicability and stability,providing a reliable and credible basis for the development of the physical prototype of the robot.
引文
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[4]Song Y,Wang Y,Wang J,et al.An intelligent visual line tracking system via quadrotor platform[A].2016 Chinese Control and Decision Conference(CCDC)[C].IEEE,2016:6339-6344.
[5]Fu M,Zhang K,Yi Y,et al.Autonomous landing of a quadrotor on an UGV[A].2016IEEE International Conference on Mechatronics and Automation(ICMA)[C].IEEE,2016:988-993.
[6]吴宗泽.机械设计实用手册[M].北京:化学工业出版社,2003.
[7]布鲁诺·西西里安诺.机器人学:建模、规划与控制:modelling,planning and control[M].西安:西安交通大学出版社,2015.
[8]布树辉,杨君,赵勇,等.一种基于光流的无人机自动降落引导方法[P]:CN106054929A,中国,2016.
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[10]王忠华,陈银军,吴文海,等.基于视觉的无人直升机自主着舰关键技术[J].飞机设计,2016(1):28-33.