【摘要】：作為仿生智能機器人領(lǐng)域的一個重要研究方向,仿生水下機器人因其在水質(zhì)監(jiān)測、水環(huán)境測量、水下生態(tài)系統(tǒng)觀測、軍事偵察等領(lǐng)域具有潛在的應(yīng)用前景而受到科學界和工程界的廣泛關(guān)注,在身體/尾鰭(Body and/or Caudal Fin,BCF)推進機器魚,以及中央鰭/對鰭(Median and/or Paired Fin,MPF)推進機器魚研究方面已取得很多成果。由于MPF機器魚在推進效率、機動性等方面優(yōu)勢明顯,逐漸成為研究的熱點。本文針對胸尾鰭協(xié)同推進仿生機器魚的游動機理進行研究,主要內(nèi)容如下:(1)設(shè)計了一種二自由度胸鰭和三關(guān)節(jié)柔性身體協(xié)同推進的仿生機器魚。所設(shè)計仿生機器魚以鱈魚為仿生對象,其胸鰭機構(gòu)以MPF模式推進,可實現(xiàn)前后拍翼運動、沿鰭軸的搖翼運動以及二者的復合運動;三關(guān)節(jié)柔性身體機構(gòu)和尾鰭以BCF模式推進,可實現(xiàn)水平面內(nèi)的往復擺動。機器魚頭部設(shè)計為密封塑質(zhì)外殼,柔性身體用防水塑膠蒙皮包裹,控制系統(tǒng)以Atmel128單片機為主控芯片。(2)分別針對仿生機器魚直線游動、轉(zhuǎn)彎游動等基本行為進行分析,建立了在胸尾鰭協(xié)同推進情形下的水動力學模型。首先,以生物力學研究成果為依據(jù),分別給出了二自由度胸鰭的運動學模型和柔性身體/尾鰭擬合Lighthill曲線的運動學模型。其次,以微元分析法為依據(jù),建立了胸鰭運動的水動力學模型;以童秉綱三維波動板理論為依據(jù),建立了柔性身體/尾鰭的水動力學模型。最后基于上述結(jié)果,分別給出了仿生機器魚在胸尾鰭協(xié)同推進情形下實現(xiàn)直線游動和轉(zhuǎn)彎行為的水動力學模型。(3)以所建立的水動力學模型為基礎(chǔ),通過數(shù)值分析與實驗驗證相結(jié)合的方式,確定了仿生機器魚直游和轉(zhuǎn)彎模態(tài)。首先,通過數(shù)值仿真計算,對擺幅、周期、初始角、相位差等基本運動學參數(shù)與直游速度、轉(zhuǎn)彎角速度之間的關(guān)系進行分析,初步確定了5種直游模態(tài),以及3種轉(zhuǎn)彎游動模態(tài)。其次,通過實驗驗證仿真結(jié)果,并優(yōu)化參數(shù),最終確定了仿生機器魚的直游和轉(zhuǎn)彎模態(tài)。仿真及實驗結(jié)果表明,所設(shè)計機器魚實現(xiàn)基本游動行為的方式豐富,且理論分析結(jié)果與實驗結(jié)果相符合,從而為在現(xiàn)實領(lǐng)域中的應(yīng)用提供了理論與技術(shù)支撐。
[Abstract]:As an important research direction in the field of bionic intelligent robot, bionic underwater robot is widely used in water quality monitoring, water environment measurement and underwater ecosystem observation. The potential applications of military reconnaissance and other fields have attracted wide attention in the scientific and engineering fields. Many achievements have been made in the research of the body / caudal fin (Body and/or Caudal) propulsion robot fish and the central fin / pair fin (Median and/or Paired) propulsion robot fish. Because of the obvious advantages of MPF robot fish in propulsive efficiency and maneuverability, it has gradually become a hot research topic. The main contents of this paper are as follows: (1) A bionic robot fish with two degrees of freedom pectoral fin and three joints flexible body is designed. The designed bionic robot fish takes cod as the bionic object, and its pectoral fin mechanism is propelled by MPF mode, which can realize the motion of front and back flaps, the motion of the flange along the fin axis and the combined motion of the two, and the three-joint flexible body mechanism and caudal fin are advanced in BCF mode. Reciprocating and swinging in horizontal plane can be realized. The head of the robot fish is designed as a sealed plastic shell, the flexible body is wrapped in waterproof plastic skin, and the control system is mainly controlled by Atmel128 microcontroller. (2) the basic behaviors of the bionic robot fish, such as linear swimming, turning swimming and so on, are analyzed respectively. The hydrodynamic model of thoracic caudal fin was established in this paper. Firstly, based on the results of biomechanical research, the kinematics model of two degrees of freedom pectoral fin and the kinematic model of flexible body / caudal fin fitting Lighthill curve are given respectively. Secondly, the hydrodynamic model of pectoral fin motion is established on the basis of microelement analysis method, and the hydrodynamic model of flexible body / caudal fin is established based on Tong Binggang three-dimensional wave plate theory. Finally, based on the above results, a hydrodynamic model for bionic robot fish to realize straight line swimming and turning behavior in the case of cooperative propulsion of the pectoral caudal fin is presented. (3) based on the established hydrodynamic model, Through the combination of numerical analysis and experimental verification, the direct swimming and turning modes of bionic robot fish are determined. Firstly, the relationship between the basic kinematics parameters, such as swing amplitude, period, initial angle, phase difference and the velocity of straight swim and turn angle, is analyzed by numerical simulation, and five kinds of direct swimming modes are preliminarily determined. And 3 kinds of turn swim mode. Secondly, the simulation results are verified by experiments, and the parameters are optimized to determine the straight swimming and turning modes of the bionic robot fish. The simulation and experimental results show that the designed robot fish has a rich way to realize the basic swimming behavior, and the theoretical analysis results are in agreement with the experimental results, thus providing theoretical and technical support for the application in the practical field.
【學位授予單位】：蘭州交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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