研究螺旋推进器在水、沙等介质中的运动表现，优化设计提升两栖机器人性能。
Characterization and Evaluation of Screw-Based Locomotion Across Aquatic, Granular, and Transitional Media
- 从热沉设计中借鉴思路，建立螺旋结构性能评估框架。
- 不同介质下螺纹参数影响显著，湿沙与水中的最优参数差异大。
- 为两栖机器人提供可适应多环境的螺旋推进设计指导。
螺旋推进系统在两栖移动中展现出潜力，但在水、颗粒物及过渡介质中实现高效运动仍面临挑战。本研究系统分析了多种螺旋结构在干沙、湿沙、饱和沙和水中运动的表现。通过基于原理的分析方法，发现特定参数对性能具有主导作用。根据不同介质特性，借鉴热沉优化设计的思想，构建了关键参数分类体系。结果揭示了螺纹结构设计与自适应运动策略的优化方向，为多功能两栖机器人提供了具体设计依据。
原文摘要 · Abstract (English)
Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic investigation into the locomotion performance of various screw configurations in media such as dry sand, wet sand, saturated sand, and water. Through a principles-first approach to analyze screw performance, it was found that certain parameters are dominant in their impact on performance. Depending on the media, derived parameters inspired from optimizing heat sink design help categorize performance within the dominant design parameters. Our results provide specific insights into screw shell design and adaptive locomotion strategies to enhance the performance of screw-based propulsion systems for versatile amphibious applications.
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