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Simulation Of An Underwater Hexapod Robot

机译：水下六足机器人的仿真

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摘要

AQUA is an underwater hexapod robot that uses its paddles to propel itself and control its orientation. To aid in the vehicle development, a simulation was needed to predict the motion of the robot based on its paddle oscillations. The most difficult aspect of this simulation was the characterization of the forces generated by the paddles oscillating in the water. In this work, a model predicting the forces produced by an oscillating rigid paddle was developed and validated experimentally. Tests were performed on an experimental setup, which was designed and built to measure the forces and torques produced by a paddle oscillating in a water tank. Also, the forces produced by a flexible fin were determined experimentally and were compared to those generated by the rigid paddle. Finally, a simulation of the AQUA robot was developed, based on the validated rigid paddle model.
机译：AQUA是一款水下六足动物机器人，利用其桨叶来推动自身并控制其方向。为了帮助车辆开发，需要进行模拟以基于其桨叶振动预测机器人的运动。此模拟最困难的方面是表征桨在水中振荡产生的力。在这项工作中，开发了一个模型，该模型预测了由振荡的刚性桨产生的力，并进行了实验验证。测试是在实验装置上进行的，该装置的设计和制造旨在测量桨在水箱中振荡产生的力和扭矩。而且，由挠性鳍产生的力通过实验确定，并与刚性桨产生的力进行比较。最后，在经过验证的刚性桨叶模型的基础上，对AQUA机器人进行了仿真。

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