面向海滩环境监测的绳驱柔性骨骼仿生蟹机器人

doi:10.12068/j.issn.1005-3026.2024.10.010

摘要/Abstract

摘要：

环境的污染给海洋生态带来的巨大变化会对人类的生活造成严重的影响，研究仿生机器人实时监测海滩环境能够有效解决该问题.因此，提出了一种绳索驱动柔性骨骼仿生蟹机器人.首先，建立刚柔耦合模型研究柔性足端的运动规律.其次，研究基于手机应用程序（application，APP）的仿生蟹控制方法，并实验研究仿生蟹机器人的响应特性和运动特性.然后，测试仿生蟹在多种沙滩上的越障能力，并同时控制多只仿生蟹以测试手机APP的集群控制性能.最后，利用该机器人实现渤海湾6个海滩环境的监测，并捕捉海滩环境图像和参数.该仿生蟹机器人的研究为海滩环境监测提供了一种有效的方法.

关键词: 柔性骨骼, 绳索驱动, 仿生蟹机器人, 手机应用程序控制, 海滩环境监测

Abstract:

Environmental pollution has brought great changes to the marine ecology and will have a serious impact on human life. Investigation of bionic robots to monitor the beach environment in real time can effectively solve this problem. Therefore， a cable?driven flexoskeleton bionic crab robot is proposed. Firstly， a rigid?flexible coupling model is established to study the motion law of the flexible foot end. Secondly， control method of the bionic crab based on a mobile phone application （APP） is studied， and the response characteristics and motion characteristics of the bionic crab robot are experimentally studied. Then， the obstacle?crossing ability of the bionic crab on various beaches is tested， and multiple bionic crabs are controlled simultaneously to test the cluster control performance of the mobile phone APP. Finally， the robot is used to monitor six beaches in Bohai Bay and capture beach environment images and parameters. The research on the bionic crab robot provides an effective method for beach monitoring.

Key words: flexoskeleton, cable?driven, bionic crab robot, mobile phone APP control, beach monitoring

中图分类号:

TP 242

陈晓明, 陈大川, 赵玉倩, 李程. 面向海滩环境监测的绳驱柔性骨骼仿生蟹机器人[J]. 东北大学学报（自然科学版）, 2024, 45(10): 1443-1451.

Xiao-ming CHEN, Da-chuan CHEN, Yu-qian ZHAO, Cheng LI. Cable-Driven Flexoskeleton Bionic Crab Robots for Beach Environmental Monitoring[J]. Journal of Northeastern University(Natural Science), 2024, 45(10): 1443-1451.

图/表 20

图1 平面梁单元模型

Fig.1 Plane beam element model

图2 仿生蟹机器人足端变形仿真模型示意图

Fig.2 Schematic diagram of the bionic crab robot foot end transformation simulation model

图3 仿生蟹机器人足端变形数值仿真结果（a）—足端变形量随时间的变化规律；（b）—足端弯曲角度随时间的变化规律.

Fig.3 Numerical simulation results of the bionic crab robot foot end transformation

图4 仿生蟹机器人控制系统

Fig.4 Control system of the bionic crab robot

图5 仿生蟹机器人设计实物图（a）—仿生蟹机器人零件图；（b）—仿生蟹机器人装配图.

Fig.5 Rear object image of the designed bionic crab robot

图6 仿生蟹机器人的测试（a） —测试装置；（b）—足端厚度与弯曲角度的关系；（c）—绳索长度随时间的变化规律.

Fig.6 Testing of the bionic crab robot

图7 仿生蟹机器人的组装

Fig.7 Assembly of the bionic crab robot

图8 手机APP的控制原理

Fig.8 Control principle of the mobile phone APP

图9 短距离控制时仿生蟹机器人的运动

Fig.9 Motion of the bionic crab robot in the case of short range control

图10 仿生蟹机器人的响应时间

Fig.10 Response time of the bionic crab robot

图11 远距离控制下仿生蟹机器人的运动

Fig.11 Motion of the bioniic crab in the case of long range control

图12 仿生蟹机器人运动速度随着时间的变化

Fig.12 Change in speed of the bionic crab robot over time

图13 仿生蟹机器人在松软崎岖海滩上的运动

Fig.13 Motion of the bioniic crab robot on soft and rugged beach

图14 仿生蟹机器人在松软崎岖海滩上的运动速度与时间的关系

Fig.14 Relationship between the speed and time of the bionic crab robot on soft and rugged beach

图15 仿生蟹机器人在板硬崎岖海滩上的运动

Fig.15 Motion of the bionic crab robot on harden and rugged beach

图16 仿生蟹机器人在板硬崎岖海滩上的运动速度与时间的关系

Fig.16 Relationship between the speed and time of the bionic crab robot on harden and rugged beach

图17 两只仿生蟹机器人的控制（a）~（c）—两只仿生蟹机器人运动；（d）—运动速度随时间变化.

Fig.17 Control of two bionic crab robots

图18 3只仿生蟹机器人的控制（a）~（c）—3只仿生蟹机器人运动；（d）—运动速度随时间变化.

Fig.18 Control of three bionic crab robots

图19 海滩环境图片的实时采集

Fig.19 Real time collection of beach environment images

图20 海滩多种环境参数的采集（a）—温度；（b）—湿度；（c）—声音强度；（d）—压强；（e）—地磁场方向.

Fig.20 Collection of various environmental parameters in beachs

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