手掌尺度游跳机器人：一种带差动推力俯仰控制的舵导向双螺旋桨水下机器人平台
Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control
浏览论文内容
中文总结 AI 辅助
本文提出一种手掌尺度（65毫米，34克）双螺旋桨差动推力俯仰控制与舵偏航控制的水下机器人平台，实现高速游动、灵活转弯及无缝游跳，用于跨越障碍和干燥间隙的检查任务。
中文摘要 AI 辅助
我们提出了一种手掌尺度（65毫米，34克）的游跳机器人平台。两个垂直堆叠的螺旋桨在比例-积分-微分（PID）控制回路下同时提供推进力和差动推力俯仰控制，尾部舵提供偏航控制。经流动仿真评估的壳体相对于等效长方体将阻力降低了五倍，螺旋桨通过测功机测量验证的B系列模型进行了优化。当前机器人以每秒13.9倍体长的速度游动，并以每秒209度的速度转弯，这对应于水下机器人报道的上限。在自由游动中，俯仰回路将机体转到任意指令的抬头俯仰角，并且在舵稳定出水的条件下，当前机器人在无缝巡航-跳跃-巡航序列中跃起1.6倍体长高、3.7倍体长远。该平台可用于构建小型机器人，以跨越溪流、淹没结构和工业系统中水池之间的障碍和干燥间隙进行检查。
英文摘要
We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide both propulsion and differential-thrust pitch control under a proportional-integral-derivative (PID) loop, and a tail rudder adds yaw control. The hull, evaluated by flow simulation, reduces the drag five-fold relative to an equivalent cuboid, and the propellers are optimized using B-series modeling validated by dynamometer measurements. The current robot swims at 13.9 body lengths per second and turns at 209 deg per second, corresponding to the upper limits reported for underwater robots. In free swimming, the pitch loop turns the body to any commanded nose-up pitch angle, and, with the rudder stabilizing the exit, the current robot leaps 1.6 body lengths high and 3.7 long in a seamless cruise-leap-cruise sequence. The platform can be used to build small-scale robots that cross barriers and dry gaps between pools for inspection in streams, flooded structures, and industrial systems.
发表机构
- BioFrontiers Institute, University of Colorado Boulder（科罗拉多大学博尔德分校生物前沿研究所）
机构由 AI 辅助整理，请以论文原文为准。
