水陆两栖蛇形机器人，靠螺旋推进在复杂地形穿梭
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
- 用螺杆与关节串联驱动，实现水陆双模式移动
- 可自主下潜上浮，水下推力稳定可控
- 适合洞穴、海洋等多环境探测与救援
在洞穴、海洋及地外表面等极端环境中进行机器人探索面临巨大挑战，尤其在不同地形间移动时牵引力不稳定。本文提出ARCSnake V2，是ARCSnake V1的改进版本，新增水下作业能力。该机器人结合高冗余蛇形机器人的高机动性与阿基米德螺旋推进的地形适应性，关键创新包括防水密封机械结构、串联式螺杆与关节驱动设计，以及集成浮力控制系统。大量实验验证了其在水下的下潜与上浮能力，以及力控驱动的稳定性。这些特性使ARCSnake V2成为多域环境下探索、搜救和环境监测的理想平台。
原文摘要 · Abstract (English)
Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses significant challenges, specifically locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in such contexts due to variability in traction. This paper presents ARCSnake V2, an adaptation of ARCSnake V1 with additional amphibious capabilities for aquatic environments. ARCSnake V2 combines the high mobility of hyper-redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water-sealed mechanical design with serially linked screw and joint actuation, and an integrated buoyancy control system. Extensive experiments validate its underwater capabilities for diving and surfacing, as well as force-regulated actuation. These capabilities position ARCSnake V2 as a versatile platform for exploration, search-and-rescue, and environmental monitoring in multi-domain settings.
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