新概念仿生两栖机器蟹关键技术研究

With the continuous development of offshore oil resources, the number of offshore platforms is increasing sharply, and the offshore seabed’s complex and harsh environment makes it necessary to patrol offshore platforms. The existing inspection method has high cost and poor effect. This project aims to develop a new concept bionic amphibious machine crab which combine the legged crawling function of traditional bionics crab and the buoyancy /attitude adjustment and regulation characteristics of the underwater glider, which can crawling in the land and the seabed and gliding in the water,have two movement modes for the inspection of offshore platform. The inspection process contain crawl mode to near the platform base and observe it in different direction, switching operation site by gliding in the water. This project used the hybrid driven and multi movement mode conversion, multi structure coupling modal analysis and dynamic load calculation for innovation point,use the research of the multi movement mode in complex environment, research of the offshore gait planning of the multi legged robot, perception and navigation of offshore seabed, the research of hydrodynamic performance of wide navigation four aspects as the main research contents.And this project aims to solve the hybrid propulsion technology in complex environment, the gait planning of multi legged robot in offshore seabed, the hydrodynamic performance of wide navigation in offshore area through the development of bionic crab prototype.

随着近海石油资源的不断开发，近海平台的数量显著增加，近海海底复杂恶劣的环境使近海平台基座的巡检成为必要。现有的巡检方式成本高，效果差。本项目拟研制出一种融合传统两栖仿生机器蟹多足爬行功能和水下滑翔机浮力调节和姿态调整特点的新概念仿生两栖机器蟹，使其在具备陆地和海底爬行，水中滑翔两种运动模式，用于完成近海平台基座的巡检。巡检过程中以多足爬行模式近距离、多方位的观察平台基座，以滑行运动模式进行离散作业地点的切换。本项目以混合驱动及多运动模式转换，多结构耦合运动模态分析及水动力载荷计算为创新点，从复杂环境多运动模式研究，多足机器人海底步态规划研究，近海海底感知识别与导航研究，宽体航行器水动力性能研究四个方面着手，通过仿生机器蟹样机的研制解决复杂环境组合推进技术，多足机器人近海海底步态规划，浅水区宽体航行器水动力性能分析与优化三个关键科学问题。

本项目从宽体航行器水动力性能分析与外形优化、多足机器人海底步态规划研究、复杂环境多运动模式研究和近海海底感知识别与导航研究四个方面着手，以计及复杂附体结构的两栖仿生蟹的水动力特性分析、多步行足逆运动学分析和仿海蟹机器人路径跟踪自抗扰控制为创新点，按照既定研究方案和技术路线开展相关研究工作，解决了复杂环境组合推进、多足机器人近海海底步态规划、浅水区宽体航行器综合优化三个关键科学问题，研制了3代两型原理样机，进行了仿真实验和水池实试验的验证。项目执行过程中，经费按时足额划拨合作单位，经费严格按照预算执行。在四年的研究过程中，项目组在国际重要刊物或有重要影响的国际会议上发表论文20篇，其中在国内外SCI检索学术期刊发表论文16篇。申请国家发明专利22项，其中获得授权12项，获省部级奖励3项，完成了项目计划书规定的研究目标评价。