基于尾鳍推进模型的三关节仿生机器海豚系统

发布时间：2018-12-13 09:54

【摘要】：为设计一种新型、游动效率高、可以实现沉浮运动的仿生机器人,以海豚为仿生对象,利用仿生学原理对基于尾鳍推进模型的三关节仿生机器海豚系统进行改进。研究海豚的背腹运动尾鳍推进模型,对原有模型中不便于工程实现的方面进行修正。在验证修正后模型可行性的基础上,设计一种三关节柔性尾部加刚性头部的机械结构以及控制流程和配套的电路系统,对机器海豚的沉浮运动进行动力学分析,提出利用PID控制实现平面运动的方法,通过实验验证机器海豚沉浮运动和平面运动的可行性,并给出机器海豚游动速度和尾鳍摆动频率及尾鳍摆幅之间的关系。实验结果表明,基于尾鳍推进模型的机器海豚具有较高的效率和游动速度。
[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.
【作者单位】：西北工业大学航天学院;
【基金】：2015年国家级“大学生创新创业训练计划”创新项目(201510699026)
【分类号】：TP242

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