多自由度机器鱼协同推进及机理方法研究

发布时间：2018-08-20 13:55

【摘要】：作为仿生智能机器人领域的一个重要研究方向,仿生水下机器人因其在水质监测、水环境测量、水下生态系统观测、军事侦察等领域具有潜在的应用前景而受到科学界和工程界的广泛关注,在身体/尾鳍(Body and/or Caudal Fin,BCF)推进机器鱼,以及中央鳍/对鳍(Median and/or Paired Fin,MPF)推进机器鱼研究方面已取得很多成果。由于MPF机器鱼在推进效率、机动性等方面优势明显,逐渐成为研究的热点。本文针对胸尾鳍协同推进仿生机器鱼的游动机理进行研究,主要内容如下:(1)设计了一种二自由度胸鳍和三关节柔性身体协同推进的仿生机器鱼。所设计仿生机器鱼以鳕鱼为仿生对象,其胸鳍机构以MPF模式推进,可实现前后拍翼运动、沿鳍轴的摇翼运动以及二者的复合运动;三关节柔性身体机构和尾鳍以BCF模式推进,可实现水平面内的往复摆动。机器鱼头部设计为密封塑质外壳,柔性身体用防水塑胶蒙皮包裹,控制系统以Atmel128单片机为主控芯片。(2)分别针对仿生机器鱼直线游动、转弯游动等基本行为进行分析,建立了在胸尾鳍协同推进情形下的水动力学模型。首先,以生物力学研究成果为依据,分别给出了二自由度胸鳍的运动学模型和柔性身体/尾鳍拟合Lighthill曲线的运动学模型。其次,以微元分析法为依据,建立了胸鳍运动的水动力学模型;以童秉纲三维波动板理论为依据,建立了柔性身体/尾鳍的水动力学模型。最后基于上述结果,分别给出了仿生机器鱼在胸尾鳍协同推进情形下实现直线游动和转弯行为的水动力学模型。(3)以所建立的水动力学模型为基础,通过数值分析与实验验证相结合的方式,确定了仿生机器鱼直游和转弯模态。首先,通过数值仿真计算,对摆幅、周期、初始角、相位差等基本运动学参数与直游速度、转弯角速度之间的关系进行分析,初步确定了5种直游模态,以及3种转弯游动模态。其次,通过实验验证仿真结果,并优化参数,最终确定了仿生机器鱼的直游和转弯模态。仿真及实验结果表明,所设计机器鱼实现基本游动行为的方式丰富,且理论分析结果与实验结果相符合,从而为在现实领域中的应用提供了理论与技术支撑。
[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.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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