基于尾鳍推进模型的三关节仿生机器海豚系统

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.

Three Joints Bionic Robot Dolphin System Based on Tail Fin Propulsion Model

For designing a new-type bionic robot with high efficiency and realizing up and down motion, taking dolphins as bionic objects, use bionics principle to improve three joints bionic robot dolphin system based on tail fin propulsion model. Research on dolphin dorsoventral motion fin propulsion model, modify subject which is not easy for engineering realization in original model. Based on verification for modified model feasibility, design mechanical structure of the three joints flexible fin and rigid head, control procedure and related circuit system, carry out dynamics analysis for up and down motion, puts forward the method of using PID control to realize the planar motion, and verifies the feasibility of dolphin ups and downs motion and planar motion by experiment, then give relation among robot dolphin swimming speed, fin swing frequency and fin amplitude of oscillation. The experimental results show that the model dolphins with tail fin propulsion have high efficiency and swim speed.