新型仿生球形两栖子母机器人系统设计

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Title:

Novel bionic spherical amphibious mother-son robot system design

作者:

刘羽婷^1,2, 郭健^1,2, 孙珊^1,2, 陈翔宇^1,2, 耿娜文^1,2, 宋伯文^1,2, 赖伊雯^1,2, 郭书祥^1,2,3

1. 天津市复杂系统控制理论及应用重点实验室, 天津 300384;
2. 天津理工大学 电气电子工程学院, 天津 300384;
3. 日本香川大学 工学部, 日本 高松 7610396

Author(s):

LIU Yuting^1,2, GUO Jian^1,2, SUN Shan^1,2, CHEN Xiangyu^1,2, GENG Nawen^1,2, SONG Bowen^1,2, LAI Yiwen^1,2, GUO Shuxiang^1,2,3

1. Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory, Tianjin 300384, China;
2. School of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin 300384, China;

关键词:

子母机器人; 仿生机器人; 微型子机器人; 轮式驱动; 球形两栖机器人; 远程无线控制; XBee通信; 无线控制

Keywords:

mother-son robot; bionic robot; miniature robot; wheel-driven; spherical amphibious robot; remote wireless control; XBee communications; wireless control

分类号:

TP242.6

DOI:

10.11992/tis.201710025

摘要:

为解决传统两栖机器人的一些突出缺点，探寻机器人领域更多的可能性。本文设计了一种新型仿生球形两栖子母机器人系统，该系统中球形两栖母机器人在陆地采用仿生四足爬行方式运动，在水下采用矢量喷水电机进行喷水推进，无噪声，增加隐蔽性，并为微型子机器人提供控制信号和能源。微型子机器人陆地采用轮式驱动，设计了可以实现水陆两栖的桨叶轮。该子母机器人系统通过XBee通信模块实现无线通信。通过进行的子母机器人的陆地和水下运动试验，验证了设计的子母机器人系统的有效性。

Abstract:

Inorder to solve some outsanding shortcoming of traditional amphibious robots, and explore more possibilities in the field of robotics. In this paper, we present our novel spherical, amphibious mother-son robot system design, in which the spherical, amphibious mother robot performs a four-legged crawling movement on land. To reduce noise, increase concealment, send control signals, and provide energy to the son robot, the mother robot is equipped with a water-jet motor as an actuator under water. The son robot is wheel-driven on land and uses paddle wheels to perform amphibious movements. This novel, spherical amphibious mother-son robot system uses wireless communication via an XBee communications module. In this article, we describe the structure design, hardware structure, and the movement and communication methods used in the system. Additionally, we tested the land and underwater motions of the mother and son robots and verified the effectiveness of the designed system.