两栖环境是一种多介质结合的复杂地形环境，普通的两栖仿生机器人因为其自身设计结构简单且可实现动作单一等问题，导致很难完成特殊复杂的任务。本文参考蝾螈生物模型，提出了一种新型两栖仿生机器人的设计方案。同时结合蝾螈在水中的运动情况，设计俯仰姿态控制系统，使得其可实现上浮、下潜、上仰以及下俯等动作。为了验证所设计方案的可行性，利用Solidworks对关键模块进行有限元分析，来验证特殊情况下材料强度和设计结构的合理性，同时采用Webots运动学仿真的方式对两栖仿生机器人各关节角度进行校验。最终得出该两栖仿生机器人设计方案布局结构合理，整机在两栖环境中动作流畅，具有较好环境适应性和高拟真率，为整机的研发和应用奠定了基础。
The amphibious environment is a complex terrain environment that combines multiple media. Ordinary amphibious biomimetic robots often find it difficult to complete special and complex tasks due to their simple design structure and the ability to achieve single actions. This article proposes a design scheme for a novel amphibious biomimetic robot based on the salamander biological model. At the same time, based on the motion of salamanders in water, a pitch attitude control system is designed to enable them to perform actions such as floating, diving, pitching up, and pitching down. In order to verify the feasibility of the design scheme, the finite element analysis of key modules was carried out using Solidworks to verify the rationality of material strength and design structure under special circumstances. At the same time, Webots kinematics simulation was used to verify the joint angles of the amphibious newt bionic robot. The final design scheme of the amphibious biomimetic robot has a reasonable layout structure, smooth movements in amphibious environments, good environmental adaptability, and high fidelity, laying the foundation for the development and application of the entire machine.
2024,46(10): 92-97 收稿日期：2023-07-04
DOI：10.3404/j.issn.1672-7649.2024.10.016
分类号：U662
基金项目：连云港市重点研发计划资助项目（CG2201）
作者简介：刘强(1980-),男,博士,教授,研究方向为机器人技术
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