一种仿生水下机器人的设计与动力学分析

魏清平; 王硕; 董翔; 尚留记; 谭民

doi:10.3724/SP.J.1004.2013.01330

一种仿生水下机器人的设计与动力学分析

doi: 10.3724/SP.J.1004.2013.01330

1.
中国科学院自动化研究所复杂系统管理与控制国家重点实验室北京 100190;
2.
中国科学院合肥智能机械研究所合肥 230031

基金项目:

Supported by National Natural Science Foundation of China (51175496, 61233014, 61005075), National High Technology Research and Development Program of China (863 Program) (2012AA041402)

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出版历程
- 收稿日期: 2012-02-24
- 修回日期: 2013-04-19
- 刊出日期: 2013-08-20

Design and Kinetic Analysis of a Biomimetic Underwater Vehicle with Two Undulating Long-fins

1.
The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;
2.
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China

Funds:

Supported by National Natural Science Foundation of China (51175496, 61233014, 61005075), National High Technology Research and Development Program of China (863 Program) (2012AA041402)

More Information

Corresponding author: WANG Shuo

摘要

摘要: 设计了一种基于波动长鳍推进的仿生水下机器人, 两侧长鳍对称安装于机器人本体两侧. 两侧长鳍分别由十个舵机驱动, 并按照余弦函数波动. 设计了实时控制器, 通过调整鳍条的振动频率和幅值达到控制长鳍运动的目的. 加速度信息和角速度信息由一个惯性测量单元采集. 为获取机器人游动性能与振动频率以及振动幅值之间的关系, 本文给出了长鳍波动运动的运动学分析和动力学分析. 本文通过将长鳍分割成若干小单元并单独计算作用于每个小单元上的作用力, 再计算所有小单元作用力在一个波动周期内的合力的方法, 获得了整个长鳍产生的平均推力. 通过前进游动和旋转游动实验, 验证了机构设计、运动学分析和动力学分析的有效性, 最后讨论了游动性能与波动参数之间的关系.
- 自主水下机器人 /
- 仿生机器鱼 /
- 动力学建模 /
- 机器人控制
Abstract: A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.
- Autonomous underwater vehicle /
- biomimetic robot fish /
- kinematic modeling /
- robot control

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参考文献(17)

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