For a long time, underwater robot has been used as a scientific research tool and a teaching platform, but the real application products have not been well explored. The successful case of UAV gives underwater robot a higher expectation. How to apply underwater robot and enter the market has become a hot spot of underwater robot research at present. This paper mainly introduces a bionic fish-shaped robot, redefines underwater robot with innovative thinking, determines product functions from the perspective of the market, and develops product functions and designs and realizes the structure of each part according to the existing scientific research experience. Main innovation points of this design are to adopt the way of the hybrid propulsion for underwater robot movement, through the form of a hybrid propulsion and long range and the contradiction between the rapid maneuver, at the same time of umbilical cord cable, using float design improvement, and through the highly integrated ground station for the system operation control.
Wheel-legged robots have fast and stable motion characteristics on flat roads, but there are the problems of poor balance ability and low movement level in special terrains such as rough roads. In this paper, a new type of wheel-legged robot with parallel four-bar mechanism is proposed, and the linear quadratic regulator (LQR) controller and fuzzy proportion differentiation (PD) jumping controller are designed and developed to achieve stable motion so that the robot has the ability to jump over obstacles and adapt to rough terrain. The amount of energy released by the parallel four-bar linkage mechanism changes with the change of the link angle, and the height of the jump trajectory changes accordingly, which improves the robot’s ability to overcome obstacles facing vertical obstacles. Simulations and real scene tests are performed in different terrain environments to verify obstacle crossing capabilities. The simulation results show that, in the pothole terrain, the maximum height error of the two hip joint motors is 2 mm for the obstacle surmounting method of the adaptive retractable wheel-legs; in the process of single leg obstacle surmounting, the maximum height error of the hip joint motors is only 6.6 mm. The comparison of simulation data and real scene experimental results shows that the robot has better robustness in moving under complex terrains.
With the construction of a large number of power plants along the river and the coast, more and more power plants have adopted open water intake in the circulating water pool of the power plant and the number of underwater operations is increasing. In the detection of complex underwater environments, underwater robots have been widely used as a kind of underwater intelligent equipment. However, the current underwater robots generally have problems such as weak endurance, low intelligence, poor detection ability, and large environmental disturbance. The underwater robot designed in this paper is able to accomplish various rotational and flat movement works in the water and also can realize the monitoring of the water environment. In this paper, the underwater dynamic performance of the underwater robot is studied, the coordinate system and motion equation are established, the hydrodynamic analysis is carried out, and the dynamic characteristics of the underwater robot are tested. The experimental results show that the underwater robot has achieved good results in underwater motion control and its dynamic performance, showing the advantages of good robustness and accuracy, high control accuracy, and good dynamic characteristics.
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