【作者】 金友强； 刘卫东； 徐景明；

【Author】 JIN You-qiang;LIU Wei-dong;XU Jing-ming;School of Marine Science and Technology,Northwestern Polytechnical University;

【机构】 西北工业大学航海学院；

【摘要】 水下航行器是进行海洋考察与开发的重要工具。相比于传统的水下航行器,水下六足机器人具有在复杂环境下精准作业的能力。本文以水下六足机器人为研究对象,分析了洋流对机器人海底爬行稳定性的影响,研究了通过调整机器人姿态来提高其抗洋流爬行运动稳定性的方法,推导出机器人在不同姿态下爬行时的正逆运动学解,通过仿真验证了该方法的有效性。更多还原

【Abstract】 Underwater vehicle is an important tool for ocean exploration and development.Compared with traditional under-water vehicle,underwater hexapod vehicle has the ability to operate accurately in complex environment.This paper takes underwater hexapod robot as the research object,analyses the influence of ocean current on the stability of submarine crawling of the robot,studies the method of improving the stability of anti-ocean current crawling by adjusting the attitude of the robot,derives the forward and inverse kinematics solutions of the robot when crawling under different postures,and verifies the effectiveness of the method through simulation.更多还原