全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

一种仿生水下机器人的设计与动力学分析

DOI: 10.3724/SP.J.1004.2013.01330, PP. 1330-1338

Keywords: 自主水下机器人,仿生机器鱼,动力学建模,机器人控制

Full-Text   Cite this paper   Add to My Lib

Abstract:

?设计了一种基于波动长鳍推进的仿生水下机器人,两侧长鳍对称安装于机器人本体两侧.两侧长鳍分别由十个舵机驱动,并按照余弦函数波动.设计了实时控制器,通过调整鳍条的振动频率和幅值达到控制长鳍运动的目的.加速度信息和角速度信息由一个惯性测量单元采集.为获取机器人游动性能与振动频率以及振动幅值之间的关系,本文给出了长鳍波动运动的运动学分析和动力学分析.本文通过将长鳍分割成若干小单元并单独计算作用于每个小单元上的作用力,再计算所有小单元作用力在一个波动周期内的合力的方法,获得了整个长鳍产生的平均推力.通过前进游动和旋转游动实验,验证了机构设计、运动学分析和动力学分析的有效性,最后讨论了游动性能与波动参数之间的关系.

References

[1]  Curet O M, Patankar N A, Lauder G V, MacIver M A. Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor. Bioinspiration & Biomimetics, 2011, 6(2): 026004
[2]  Toda Y, Ikedab H, Sogihara N. The motion of a fish-like underwater vehicle with two undulating side fins. In: Proceedings of the 3rd International Symposium on Aero Aqua Bio-mechanisms. Okinawa, Japan: 2006
[3]  Liu F F, Lee K M, Yang C J. Hydrodynamics of an undulating fin for a wave-like locomotion system design. IEEE/ASME Transactions on Mechatronics, 2012, 17(3): 554-562
[4]  Cochran J, Kanso E, Kelly S D, Xiong H L, Krstic M. Source seeking for two nonholonomic models of fish locomotion. IEEE Transactions on Robotics, 2009, 25(5): 1166-1176
[5]  MacIver M A, Fontaine E, Burdick J W. Designing future underwater vehicles: principles and mechanisms of the weakly electric fish. IEEE Journal of Oceanic Engineering, 2004, 29(3): 651-659
[6]  Kowalczyk W, Delgado A. Simulation of fluid flow in a channel induced by three types of fin-like motion. Journal of Bionic Engineering, 2007, 4(3): 165-176
[7]  Zhou H, Hu T J, Xie H B, Zhang D B, Shen L C. Computational hydrodynamics and statistical modeling on biologically inspired undulating robotic fins: a two-dimensional study. Journal of Bionic Engineering, 2010, 7(1): 66-76
[8]  Cheng J Y, Zhuang L X, Tong B G. Analysis of swimming three-dimensional waving plates. Journal of Fluid Mechanics, 1991, 232: 341-355
[9]  Kobayashi S, Kameyama T, Morikawa H. Generation of movement for multi-link propulsion mechanism in fluid. In: Proceedings of the 14th International Conference on Offshore and Polar Engineering. Toulon, France: ISOPE, 2004. 290-294
[10]  Sfakiotakis M, Lane D M, Davies B C. An experimental undulating-fin device using the parallel bellows actuator. In: Proceedings of the 2001 IEEE International Conference on Robotics and Automation. Seoul, Korea: IEEE, 2001. 2356-2362
[11]  Sefati S, Neveln I, MacIver M A, Fortune E S, Cowan N J. Counter-propagating waves enhance maneuverability and stability: a bio-inspired strategy for robotic ribbon-fin propulsion. In: Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. Roma, Italy: IEEE, 2012. 1620-1625
[12]  Zhou C L, Low K H. Design and locomotion control of a biomimetic underwater vehicle with fin propulsion. IEEE/ASME Transactions on Mechatronics, 2012, 17(1): 25-35
[13]  Shang L J, Wang S, Tan M, Cheng L. Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins. Robotica, 2012, 30(6): 913-923
[14]  Willy A, Low K H. Development and initial experiment of modular undulating fin for untethered biorobotic AUVs. In: Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics. Hong Kong, China: IEEE, 2005. 45-50
[15]  Rahman M M, Toda Y, Miki H. Computational study on a squid-like underwater robot with two undulating side fins. Journal of Bionic Engineering, 2011, 8(1): 25-32
[16]  Zhang Z G, Yamashita N, Yamamoto A, Gondo M, Higuchi T. Modeling and system identification of three-layer structure electrostatic film motors for a robotic fish. In: Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation. Changchun, China: IEEE, 2009. 2729-2734
[17]  Cortez R, Fauci L, Cowen N, Dillon R. Simulation of swimming organisms: coupling internal mechanics with external fluid dynamics. Computing in Science & Engineering, 2004, 6(3): 38-45

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133