The invention relates to a method for adjusting the center stabilization height of a parallel three-body underwater robot. The adjusting method provided by the invention mainly comprises two steps. Firstly, buoyancy of upper and lower single bodies of the parallel three-body underwater robot is adjusted, and the center stabilizing height of the robot is adjusted by changing the buoyancy difference of the upper and lower single bodies; secondly, the vertex angle of an isosceles triangle formed by the parallel three-body underwater robot is adjusted, and the center stabilizing height of the parallel three-body underwater robot is further adjusted by changing the relative positions of the upper single body and the lower single body. According to the invention, the specific function relationship among the buoyancy adjusting amount, the adjusted vertex angle size and the center stabilizing height is given, so that the center stabilizing height of the whole structure is adjusted by adjusting the buoyancy adjusting amount of each monomer and the vertex angle size of the isosceles triangle structure. The method has the characteristics of clear mechanism, effective method verification and the like, and can be widely applied to the adjustment work of the steady center height of the parallel multi-body underwater robot so as to better cope with the interference of different ocean current environments.
本发明涉及一种并联三体水下机器人稳心高度的调节方法。本发明所提调节方法主要包括两个步骤。第一,调节并联三体水下机器人上下单体的浮力,通过改变上下单体的浮力差来调节其稳心高度。第二,调节并联三体水下机器人所构成等腰三角形的顶角大小,通过改变上下单体相对位置来进一步调节其稳心高度。本发明给出了浮力调节量、调节后顶角大小与稳心高度的具体函数关系,从而实现通过调节各单体浮力调节量、等腰三角构型的顶角大小,调节整体构型的稳心高度。本发明具有机理明确清晰、方法验证有效等特点,可广泛应用于并联多体水下机器人稳心高度的调节工作,以更好应对不同海流环境的干扰。
Method for adjusting center stabilization height of parallel three-body underwater robot
一种并联三体水下机器人稳心高度的调节方法
2022-04-22
Patent
Electronic Resource
Chinese
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