水陆两栖机器人螺旋推进性能研究
Research on Screw Propulsion Performance of Amphibious Robot
徐鹏飞 1王子鹏 2林海龙 2开艳 2胡桥 3苏建业4
作者信息
- 1. 河海大学海洋学院,江苏 南京,210098
- 2. 河海大学港口海岸与近海工程学院,江苏 南京,210098
- 3. 西安交通大学机械工程学院,陕西 西安,710049
- 4. 大连测控技术研究所,辽宁 大连,116016
- 折叠
摘要
传统水陆两栖运动方式多为轮式或履带式与螺旋桨结合的双系统形态.与之相比,单系统的水陆两栖运动方式因系统复杂度低、运动效率高成为近年来的研究热点.螺旋推进作为一种单系统水陆两栖运动方式,在沼泽、滩涂等半流体环境下具有较好的适应性,多年来对其在陆上行驶的研究设计较多,对其在水中行驶的研究较为缺乏.文中对螺旋推进装置的水中性能展开研究,根据螺旋推进的原理,提出螺旋筒的设计方法,采用水动力仿真方法对不同浸没深度下的螺旋筒进行推力计算,发现螺旋筒在 0.9 倍浸没深度时产生的推力最大.基于自主设计研发的水陆两栖机器人样机开展水中推进测试,结果表明在水中螺旋筒推进状态稳定.进一步的,使用响应面法从螺旋叶片高度、螺距 2 个方面对螺旋筒开展优化设计工作,优化结果较原设计方案可提升 18.2%的推进效率.
Abstract
The traditional amphibious locomotion mode mainly features the dual system of wheel or track combined with a propeller.In contrast,single-system amphibious locomotion mode has become a research hotspot in recent years because of its low system complexity and high efficiency.As a single-system amphibious locomotion mode,screw propulsion has good adaptability in semi-fluid environments such as swamp and mud flat.Over the years,there have been many research designs on its driving on land,but few studies on its driving in water.In this paper,the underwater performance of the screw propulsion device was studied,and the design method of the screw cylinder was proposed according to the principle of screw propulsion.The hydrodynamic simulation method was used to calculate the thrust of the screw cylinder at different submerged depths,and it was found that the thrust generated by the screw cylinder was the largest at 0.9 times the submerged depth.Based on the self-designed and developed amphibious robot prototype,the underwater propulsion test was carried out,and the results show that the underwater screw cylinder propulsion state is stable.In addition,the response surface method is used to optimize the design of the screw cylinder from the two aspects of screw blade height and pitch,and the optimization results can increase the propulsion efficiency by 18.2%compared with the original design scheme.
关键词
水陆两栖机器人/螺旋推进/水中性能/水动力仿真Key words
amphibious robot/screw propulsion/underwater performance/hydrodynamic simulation引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据