【摘要】：與傳統(tǒng)的水下推進(jìn)器相比,仿生機(jī)器魚(yú)具有推進(jìn)效率高、機(jī)動(dòng)性好和對(duì)環(huán)境擾動(dòng)小等優(yōu)點(diǎn)。因此,仿生機(jī)器魚(yú)的設(shè)計(jì)和研究成為水下機(jī)器人領(lǐng)域的一個(gè)重要課題。研究表明,對(duì)于身體-尾鰭推進(jìn)(簡(jiǎn)稱BCF)運(yùn)動(dòng)模式的機(jī)器魚(yú),推進(jìn)機(jī)構(gòu)的工作效率是影響機(jī)器魚(yú)游速的一個(gè)重要因素;具有二維運(yùn)動(dòng)空間的尾鰭推進(jìn)器能極大地精簡(jiǎn)機(jī)器魚(yú)的機(jī)械結(jié)構(gòu)和運(yùn)動(dòng)控制。本文設(shè)計(jì)了一款基于新型二自由度尾鰭推進(jìn)機(jī)構(gòu)的仿生機(jī)器魚(yú),避免了推進(jìn)機(jī)構(gòu)中電機(jī)頻繁正反轉(zhuǎn)導(dǎo)致的低傳動(dòng)效率問(wèn)題,并且只通過(guò)尾鰭就實(shí)現(xiàn)了機(jī)器魚(yú)的直線巡游、轉(zhuǎn)彎、上浮和下潛四種基本運(yùn)動(dòng)。機(jī)器魚(yú)的水下實(shí)驗(yàn)結(jié)果表明,機(jī)器魚(yú)具有良好的游速和機(jī)動(dòng)性能,可為機(jī)器魚(yú)的推進(jìn)機(jī)構(gòu)設(shè)計(jì)提供一種新的參考。主要研究?jī)?nèi)容如下:(1)設(shè)計(jì)了一種新型的二自由度尾鰭推進(jìn)機(jī)構(gòu),并完成了機(jī)器魚(yú)的系統(tǒng)設(shè)計(jì)。介紹了在機(jī)器魚(yú)的設(shè)計(jì)過(guò)程中需要解決的主要問(wèn)題和系統(tǒng)構(gòu)成,在比較分析現(xiàn)有推進(jìn)機(jī)構(gòu)的基礎(chǔ)上,提出了一種二自由度尾鰭推進(jìn)機(jī)構(gòu)的設(shè)計(jì)方案,并給出了具體的結(jié)構(gòu)設(shè)計(jì)。確定了使用大容量鋰電池和無(wú)刷直流電機(jī)作為機(jī)器魚(yú)的動(dòng)力單元,解決了機(jī)器魚(yú)的無(wú)線通訊設(shè)計(jì)和硬件設(shè)備方案設(shè)計(jì)。對(duì)機(jī)器魚(yú)的密封方案進(jìn)行了優(yōu)化設(shè)計(jì),借助SolidWorks工具對(duì)機(jī)器魚(yú)的配重進(jìn)行了評(píng)估。最終,完成了二自由度尾鰭推進(jìn)仿生機(jī)器魚(yú)的原理樣機(jī)設(shè)計(jì)。(2)建立了二自由度尾鰭推進(jìn)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程并進(jìn)行了虛擬樣機(jī)仿真分析。介紹了該新型二自由度尾鰭推進(jìn)機(jī)構(gòu)的運(yùn)動(dòng)原理,以雙斜面轉(zhuǎn)塊和萬(wàn)向節(jié)的運(yùn)動(dòng)一致性作為解決推進(jìn)機(jī)構(gòu)運(yùn)動(dòng)學(xué)方程的出發(fā)點(diǎn),推導(dǎo)了推進(jìn)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程,給出了運(yùn)動(dòng)學(xué)正、逆解。提出了推進(jìn)機(jī)構(gòu)的電機(jī)同速同向運(yùn)動(dòng)和同速反向運(yùn)動(dòng)的兩種運(yùn)動(dòng)模式,以及速度和位置的兩種控制模式。在Adams中對(duì)機(jī)器魚(yú)虛擬樣機(jī)模型的直線游動(dòng)、轉(zhuǎn)彎、上浮和下潛方式進(jìn)行了運(yùn)動(dòng)學(xué)仿真,給出了尾鰭擺角在相應(yīng)的電機(jī)輸入函數(shù)下的變化曲線,驗(yàn)證了該新型二自由度尾鰭推進(jìn)機(jī)構(gòu)用于機(jī)器魚(yú)的可行性。(3)開(kāi)展了機(jī)器魚(yú)的游動(dòng)測(cè)試和實(shí)驗(yàn)結(jié)果分析。根據(jù)運(yùn)動(dòng)學(xué)仿真的結(jié)果,建立了五種游動(dòng)姿態(tài)下的控制策略,給出了相應(yīng)的電機(jī)控制參數(shù)變化表,并在Visual Studio環(huán)境下編寫(xiě)了控制程序。實(shí)驗(yàn)前完成了對(duì)各模塊的調(diào)試、密封性檢驗(yàn)和配重修正。利用無(wú)人機(jī)航拍的方式在戶外水塘中進(jìn)行了直線游動(dòng)和轉(zhuǎn)彎游動(dòng)實(shí)驗(yàn),通過(guò)對(duì)獲取的視頻進(jìn)行處理得到機(jī)器魚(yú)位置坐標(biāo)的游動(dòng)實(shí)驗(yàn)數(shù)據(jù)。實(shí)驗(yàn)結(jié)果表明,機(jī)器魚(yú)的游速約為0.69m/s,最小轉(zhuǎn)彎半徑約為0.23m(0.16BL)。
[Abstract]:Compared with the traditional underwater propeller, the bionic robot fish has the advantages of high propulsion efficiency, good maneuverability and low disturbance to the environment. Therefore, the design and research of bionic robot fish has become an important subject in the field of underwater vehicle. The research shows that the working efficiency of the propulsion mechanism is an important factor to affect the swimming speed of the robot fish with body-caudal fin propulsion (BCF) motion mode. The caudal propeller with two-dimensional motion space can greatly simplify the mechanical structure and motion control of robot fish. In this paper, a bionic robot fish based on a new two-degree-of-freedom tail fin propulsion mechanism is designed, which avoids the problem of low transmission efficiency caused by the frequent forward and backward rotation of the motor in the propulsion mechanism, and realizes the straight line cruise and turning of the robot fish only through the caudal fin. Floating and diving four basic sports. The underwater experiment results of the robot fish show that the robot fish has good swimming speed and maneuverability, which can provide a new reference for the design of the propulsion mechanism of the robot fish. The main contents are as follows: (1) A new 2-DOF caudal fin propulsion mechanism is designed, and the system design of robot fish is completed. This paper introduces the main problems and system structure in the design of robot fish. On the basis of comparing and analyzing the existing propelling mechanism, a design scheme of two-degree-of-freedom caudal fin propulsion mechanism is put forward, and the concrete structure design is given. The large capacity lithium battery and brushless DC motor are used as the power unit of the robot fish. The wireless communication design and hardware design of the robot fish are solved. The sealing scheme of robot fish was optimized and the weight of robot fish was evaluated by SolidWorks tool. Finally, the principle prototype design of two-degree-of-freedom caudal fin propulsion bionic robot fish is completed. (2) the kinematics equation of two-degree-of-freedom caudal fin propulsion mechanism is established and the virtual prototype simulation analysis is carried out. This paper introduces the motion principle of the new two-degree-of-freedom caudal fin propulsive mechanism. The kinematics equation of the propeller mechanism is derived by using the kinematic consistency of the double inclined plane turning block and the universal joint as the starting point to solve the kinematics equation of the propulsion mechanism. The forward and inverse kinematics solutions are given. In this paper, two motion modes of the motor in the same speed and the reverse motion at the same speed, as well as the two control modes of the speed and the position of the propulsion mechanism are proposed. In Adams, the kinematics simulation of the straight line swimming, turning, floating and diving mode of robot fish virtual prototype model is carried out, and the variation curve of tail fin swing angle under the corresponding motor input function is given. The feasibility of the new two-degree-of-freedom caudal fin propulsion mechanism for robot fish was verified. (3) the swimming test and experimental results of the robot fish were carried out. According to the results of kinematics simulation, five control strategies under swimming attitude are established, and the corresponding control parameter table is given, and the control program is written in Visual Studio environment. Before the experiment, the debugging, sealing test and counterweight correction of each module were completed. In this paper, the swimming experiment of straight line and turn was carried out in the outdoor pond by aerial capture of UAV. The swimming experiment data of the position coordinates of the robot fish were obtained by processing the obtained video. The experimental results show that the speed of swimming is about 0.69 m / s and the minimum turning radius is about 0.23 m (0.16BL).
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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