仿甲虫设计的可变刚度水空两栖机器人，兼顾效率与生态保护。
A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module
- 通过温控调节关节刚度，实现空中飞行与水中游动模式切换。
- 水下最大速度达77 mm/s，验证了推进系统的高效性。
- 适合海洋环境监测、生态巡检等需要低扰动的场景。
近年来，能够在空中和水下环境运行的机器人发展备受关注。本研究提出并制造了一种新型水空两栖运动机器人（AALR）。受 diving beetle 启发，AALR 采用仿生推进机制，包含动力冲程与回缩冲程。其核心为可变刚度推进模块（VSPM），利用低熔点合金（LMPA）与可变刚度关节（VSJ），在保证高效水下推进的同时降低对海洋生物的伤害。该设计将 VSPM 集成于传统四旋翼无人机的机械臂上，实现空中与水下运动的融合。通过温度控制调节关节刚度，满足两种运动模式的需求。建立了 VSPM 的动态模型，并优化了结构参数以提升推进力。实验聚焦水下模式，验证了 AALR 的游泳能力，实测最大水下速度为 77 mm/s。结果表明该机器人在水环境中具有优异性能，展现出多功能、环保作业的潜力。
原文摘要 · Abstract (English)
In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。