以直观呈现水下机器人运动姿态设计结果，满足其水下作业需求为目的，应用三维虚拟技术，提出一种水下机器人运动姿态设计方法。运用三维虚拟技术的CATIA软件，构建水下机器人三维模型，并通过六自由度运动方程构建水下机器人动力学模型，借助三维虚拟技术的Unreal Engine软件，将定水下机器人三维模型和动力学模型进行绑定，通过设置水体密度、阻力等参数搭建水下虚拟仿真环境，构建水下机器人横纵姿态控制方程，计算出机器人在不同时刻的姿态变化，从而实现水下机器人在不同作业需求下的姿态设计。实验表明：动力学模型精准反映了水下机器人运动特性，设计的水下机器人姿态与期望姿态契合度较高，在水下机器人运动姿态设计方面具有可行性与优势。
With the aim of visually presenting the design results of underwater robot motion posture and meeting its underwater operation needs, a method for underwater robot motion posture design is proposed using 3D virtual technology. Using CATIA software with 3D virtual technology, a 3D model of an underwater robot is constructed, and a dynamic model of the underwater robot is built through a six degree of freedom motion equation. With the help of Unreal Engine software with 3D virtual technology, the 3D model and dynamic model of the underwater robot are bound. By setting parameters such as water density and resistance, an underwater virtual simulation environment is built, and the horizontal and vertical attitude control equations of the underwater robot are constructed. The attitude changes of the robot at different times are calculated, thus achieving the attitude design of the underwater robot under different operational requirements. The experiment shows that the dynamic model accurately reflects the motion characteristics of underwater robots, and the designed underwater robot posture has a high degree of fit with the expected posture, which is feasible and advantageous in the design of underwater robot motion posture.
2025,47(18): 94-98 收稿日期：2025-4-27
DOI：10.3404/j.issn.1672-7649.2025.18.016
分类号：TP391
作者简介：叶婷（1990 – ），女，硕士，讲师，研究方向为数字媒体技术、三维虚拟技术
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