微小型水下机器人运动仿真研究的中期报告.docxVIP

微小型水下机器人运动仿真研究的中期报告 摘要： 本文介绍了一项微小型水下机器人的运动仿真研究，该机器人是一种直径小于10厘米的无人机器人，用于在水下进行勘探、探测、监测等任务。研究通过建立机器人的运动模型和控制模型，对机器人进行了三维空间的运动仿真。针对机器人在水下环境中存在的水流阻力、震荡、加速度等问题，也进行了相应的优化模拟。 研究结果表明，本文建立的仿真模型可以有效地模拟微小型水下机器人在水下运动的过程，并且可以控制机器人在水下完成各种任务。同时，优化后的模型可以更真实地反应机器人在水下环境中的运动特性，提高机器人在水下工作的效率。 关键词：微小型水下机器人；运动仿真；水流阻力；加速度 Abstract: This paper introduces a study on the motion simulation of a miniature underwater robot, which is an unmanned robot with a diameter of less than 10cm and is used for exploration, detection, and monitoring missions under water. The study established the motion model and control model of the robot and performed a three-dimensional spatial motion simulation of the robot. Aiming at the problems of water resistance, vibration, and acceleration that exist in the underwater environment, corresponding optimization simulation is also conducted. The results show that the simulation model established in this paper can effectively simulate the underwater motion process of the miniature underwater robot and can control the robot to complete various tasks underwater. At the same time, the optimized model can more realistically reflect the motion characteristics of the robot in the underwater environment and improve the efficiency of the robots work underwater. Keywords: miniature underwater robot; motion simulation; water resistance; acceleration