基于尾鰭推進(jìn)模型的三關(guān)節(jié)仿生機(jī)器海豚系統(tǒng)
發(fā)布時(shí)間：2018-12-13 09:54
【摘要】：為設(shè)計(jì)一種新型、游動(dòng)效率高、可以實(shí)現(xiàn)沉浮運(yùn)動(dòng)的仿生機(jī)器人,以海豚為仿生對(duì)象,利用仿生學(xué)原理對(duì)基于尾鰭推進(jìn)模型的三關(guān)節(jié)仿生機(jī)器海豚系統(tǒng)進(jìn)行改進(jìn)。研究海豚的背腹運(yùn)動(dòng)尾鰭推進(jìn)模型,對(duì)原有模型中不便于工程實(shí)現(xiàn)的方面進(jìn)行修正。在驗(yàn)證修正后模型可行性的基礎(chǔ)上,設(shè)計(jì)一種三關(guān)節(jié)柔性尾部加剛性頭部的機(jī)械結(jié)構(gòu)以及控制流程和配套的電路系統(tǒng),對(duì)機(jī)器海豚的沉浮運(yùn)動(dòng)進(jìn)行動(dòng)力學(xué)分析,提出利用PID控制實(shí)現(xiàn)平面運(yùn)動(dòng)的方法,通過實(shí)驗(yàn)驗(yàn)證機(jī)器海豚沉浮運(yùn)動(dòng)和平面運(yùn)動(dòng)的可行性,并給出機(jī)器海豚游動(dòng)速度和尾鰭擺動(dòng)頻率及尾鰭擺幅之間的關(guān)系。實(shí)驗(yàn)結(jié)果表明,基于尾鰭推進(jìn)模型的機(jī)器海豚具有較高的效率和游動(dòng)速度。
[Abstract]:In order to design a new kind of bionic robot with high swimming efficiency, which can realize ups and downs, a three-joint bionic dolphin system based on the model of caudal fin propulsion is improved by taking dolphins as bionic objects. In this paper, the propulsive model of the dorsal ventral movement caudal fin of dolphins is studied, and the inconvenient aspects of the original model are modified. On the basis of verifying the feasibility of the modified model, a kind of mechanical structure with flexible tail and rigid head of three joints is designed, and the control flow and the matching circuit system are designed. The dynamic analysis of the motion of the robot dolphin is carried out. A method of using PID control to realize plane motion is put forward, and the feasibility of robot dolphin's ups and downs and plane motion is verified by experiments. The relationship between the swimming speed of robot dolphin and the frequency of caudal fin swing and the amplitude of caudal fin swing is also given. The experimental results show that the robotic dolphin based on caudal propulsion model has high efficiency and swimming speed.
【作者單位】： 西北工業(yè)大學(xué)航天學(xué)院;
【基金】：2015年國家級(jí)“大學(xué)生創(chuàng)新創(chuàng)業(yè)訓(xùn)練計(jì)劃”創(chuàng)新項(xiàng)目(201510699026)
【分類號(hào)】：TP242
[Abstract]:In order to design a new kind of bionic robot with high swimming efficiency, which can realize ups and downs, a three-joint bionic dolphin system based on the model of caudal fin propulsion is improved by taking dolphins as bionic objects. In this paper, the propulsive model of the dorsal ventral movement caudal fin of dolphins is studied, and the inconvenient aspects of the original model are modified. On the basis of verifying the feasibility of the modified model, a kind of mechanical structure with flexible tail and rigid head of three joints is designed, and the control flow and the matching circuit system are designed. The dynamic analysis of the motion of the robot dolphin is carried out. A method of using PID control to realize plane motion is put forward, and the feasibility of robot dolphin's ups and downs and plane motion is verified by experiments. The relationship between the swimming speed of robot dolphin and the frequency of caudal fin swing and the amplitude of caudal fin swing is also given. The experimental results show that the robotic dolphin based on caudal propulsion model has high efficiency and swimming speed.
【作者單位】： 西北工業(yè)大學(xué)航天學(xué)院;
【基金】：2015年國家級(jí)“大學(xué)生創(chuàng)新創(chuàng)業(yè)訓(xùn)練計(jì)劃”創(chuàng)新項(xiàng)目(201510699026)
【分類號(hào)】：TP242
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