仿生水黾机器人建模及性能研究

发布时间：2018-04-26 01:21

本文选题：仿生机器人 + 水黾昆虫　；参考：《浙江大学》2017年硕士论文

【摘要】：水黾昆虫是一种通过表面张力站立在水面上,能够快速的前进、转弯以及跳跃,并且对于水面的干扰非常小。仿生水黾机器人能够灵活的在水面前进、转弯。水黾机器人仅仅能够进行水域的水文监测、军事探测,还能够进入管道等狭小的空间进行多种探测,应用范围十分广泛。本文以水黾昆虫为研究对象,根据水黾的结构以及运动特点,提出了仿生水黾机器人的设计思路。分析了水黾的结构以及运动特点,通过杨氏方程研究超疏水圆柱体的入水模型,仿真计算了水面的变形曲线,进而计算出了圆柱体在水中的承载力,验证了用疏水腿制作的机器人承载力较差,达不到承载监测设备的要求。本文根据水黾的特点提出了一种新型的划水驱动机构,利用两个伺服电机驱动划水板进行划水-抬腿-回腿-划水的划水过程,该机构能够很好的复现水黾的划水过程。根据水黾在水中滑行时运用腿部的移动平衡自身的姿态,提出了一种新型的姿态变换机构,利用力-角稳定裕度分析机器人的稳定性,验证了设想。运用流体力学知识,对机器人的划水板进行建模。考虑到机器人的初始速度会对划水板产生多余的阻力,对划水板形状进行改进,经过实验验证了理论结果。运用CFD仿真软件(STAR-CCM+)对机器人不同的支撑腿形状(球体、圆台体、扁椭球、宽椭球)进行水动力学计算,选用水阻力较小的扁椭球作为支撑腿能够有效的增加机器人的前进效率。在以上研究的基础上,制作机器人样机,并在实验室条件下,对样机进行前进、转弯实验。实验结果验证了之前对于机器人分析以及研究的正确性,该机器人具有良好的灵活性、波浪稳定性等特点、,整机的划水效率较高。本文的研究表明,对于仿生水黾机器人的设计、建模、仿真的结果是可行的、有效的,机器人整体的运动具有很高的效率。经过波浪角的计算,机器人的姿态变换装置能够有效的增加机器人的稳定性。本文的研究内容以及成果对此类水面机器人具有指导作用,为增进水面机器人的前进效率以及增加稳定性提供重要的理论依据。
[Abstract]:Water strider is a kind of water strider that stands on the water surface through surface tension, can advance, turn and jump quickly, and has very little disturbance to the water surface. The bionic water strider robot can move forward and turn flexibly on the surface of the water. The water strider robot can only carry out hydrological monitoring and military detection in the water area, but also can enter the narrow space such as pipelines to carry out many kinds of exploration, and it has a very wide range of applications. In this paper, the water strider insect is taken as the research object. According to the structure and motion characteristics of the water strider, the design idea of the bionic water strider is put forward. The structure and motion characteristics of water strider are analyzed. The water entry model of superhydrophobic cylinder is studied by Young's equation, the deformation curve of water surface is simulated, and the bearing capacity of cylinder in water is calculated. It is verified that the robot made of hydrophobic leg has poor bearing capacity and can not meet the requirements of load carrying monitoring equipment. According to the characteristics of water strider, a new water strider driving mechanism is proposed in this paper. Two servomotors are used to drive the paddle plate in the process of water stroke, which can well reproduce the stroke process of water strider. According to the motion of water strider's legs to balance its posture, a new attitude transformation mechanism is proposed. The stability of robot is analyzed by force angle stability margin, and the assumption is verified. The hydrodynamic knowledge is used to model the paddle plate of the robot. Considering that the initial velocity of the robot will produce excess resistance to the paddle plate, the shape of the paddle plate is improved, and the theoretical results are verified by experiments. The hydrodynamic calculation of different supporting leg shapes (sphere, platform, flat ellipsoid, wide ellipsoid) was carried out by using CFD simulation software (STAR-CCM). Using the flat ellipsoid with low water resistance as the supporting leg can effectively increase the forward efficiency of the robot. On the basis of the above research, the prototype of the robot is made, and the forward and turn experiments are carried out under the laboratory conditions. The experimental results show that the robot has the advantages of good flexibility, wave stability and high efficiency. The research in this paper shows that the design, modeling and simulation results of the bionic water strider robot are feasible and effective, and the overall motion of the robot is highly efficient. After the calculation of wave angle, the robot attitude change device can effectively increase the stability of the robot. The research contents and results of this paper can guide this kind of surface robot and provide an important theoretical basis for improving the advancing efficiency and increasing the stability of the surface robot.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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