Research on the Influence of Underwater Environment on the Dynamic Performance of the Mechanical Leg of a Deep-sea Crawling and Swimming Robot

要約

深海這い泳ぎロボット（DCSR）の水中操縦のための水中匍匐性能と胴体の姿勢調整は、水中機械脚（UWML）の実行機構である水中機械脚の動的性能に直接影響される。
DCSR。
陸上で動作する脚式ロボットの機械脚と比較して、DCSR の UWML は陸上で使用される機械脚の特性を備えているだけでなく、深海の水中の作業環境（つまり、流体力学）の影響も受けます。
、粘性抵抗および動的シール抵抗）。
これらの影響を軽減するために、まず、UWMLの流体力を理論と実験に基づいて研究し、適合した流体力学パラメータを使用して流体力学モデルを確立しました。
次に、オイル粘性抵抗と動的シール抵抗を実験的に研究し、ジョイント速度と周囲圧力（作動深さ）に対する両者の変化則を求めた。
この結果は、UWML と DCSR の構造最適化と高性能制御に関するその後の研究の基礎を提供します。

要約(オリジナル)

The performance of underwater crawling and adjustment of the body posture for underwater manipulating of the deep-sea crawling and swimming robot (DCSR) is directly influenced by the dynamic performance of the underwater mechanical legs (UWML), as it serves as the executive mechanism of the DCSR. Compared with the mechanical legs of legged robots working on land, the UWML of the DCSR not only possesses the characteristics of the land used mechanical legs, but is also affected by the influence of the deep-sea underwater working environment (i.e., the hydrodynamic force, viscous resistance and dynamic seal resistance). To reduce these influence, firstly, the hydrodynamic force of the UWML were researched based on theory and experiment, and the hydrodynamic model was established with the fitted hydrodynamic parameters. Secondly, the oil viscous resistance and the dynamic seal resistance were studied experimentally, and the change laws of both with respect to the joint speed and the ambient pressure (depth of operation) were obtained. The results provide a basis for the subsequent research on the structure optimization and high performance control of the UWML and DCSR.

arxiv情報

提供元, 利用サービス

arxiv.jp, Google