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Underwater Motion Characteristics Evaluation of a Bio-inspired Father-son Robot

机译：水下运动特征评估生物启发的父子机器人

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摘要

Conventional underwater Sample Acquisition tasks are performed by underwater vehicles equipped with rigid multilink arms. However, the motion of the conventional robotic arm interferes with the stability of the underwater vehicle when performing sampling tasks. In this paper, a fish-inspired small under robot is designed and developed as a son robot for sample acquisition, which is connected to the spherical underwater robot father robot by a tether. Firstly, we proposed the novel father-son robot system to realize the underwater sample acquisition task. And then, the motion control is proposed for the father-son robot system. The son robot actuated by one water-jet thruster can realize underwater basic motions. The hybrid thrusters as the thruster mechanism for the father robot. Also, the control circuit of the father-son robot system is designed. Finally, the hydrodynamic analysis and experiment results verify the validity and reliability of the father-son system.
机译：传统的水下样本采集任务由配备有刚性多链臂的水下车辆进行。 然而，传统机器人臂的运动干扰了在执行采样任务时的水下车辆的稳定性。 在本文中，设计并开发了一种用于样品采集的儿子机器人的鱼类机器人，通过系绳连接到球形水下机器人父亲机器人。 首先，我们提出了新的父子机器人系统来实现水下样本采集任务。 然后，为父子机器人系统提出了运动控制。 由一个水喷射推进器驱动的儿子机器人可以实现水下基本运动。 混合推进器作为父机器人的推进器机制。 而且，设计了父子机器人系统的控制电路。 最后，流体动力学分析和实验结果验证了父子系统的有效性和可靠性。

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