水下仿生机器人设计与实现

为解决大型舰船水下部分检修的难题，设计一台水下仿生机器人。利用SolidWorks软件建立仿生机器人的3D机械模型，设计其控制系统，并分析它在水下工作的力学特性。仿生机器人工作时，利用超声波、陀螺仪等传感器将检测到的水下环境参数转换为电信号，并实时将电信号发送到STM32控制器中；通过STM32控制器根据预设的算法对各种信号进行处理；通过STM32控制器发送命令，控制推进器、摄像头等执行元件，从而实现仿生机器人的自动运行。该仿生机器人运行稳定、反应灵敏，没有发生漏水和无法控制的情况，达到预期目标。

Design and Implementation of Underwater Bionic Robot

In order to solve the problem of repairing the underwater part of large ships,an underwater bionic robot was designed.The 3D mechanical model of the bionic robot was established by using SolidWorks software,the control system was designed,and the mechanical characteristics of the robot working underwater were analyzed.When the bionic robot was working,sensors such as ultrasonic and gyroscope were used to convert the detected underwater environment parameters into electrical signals,which were sent to the STM32 controller in real time;the STM32 controller was used to processes various signals according to the preset algorithm;by using the STM32 controller,the commands were send to control the propeller,camera and other executive components,so the automatic operation of the bionic robot was realized.The results show that the bionic robot is stable,sensitive,without water leakage and uncontrollable situation,and it can achieve the expected goal.