SPC-II机器鱼平台及其自主航行实验  

Trial voyage of SPC-II fish robot

作　　者：梁建宏[1] 邹丹[1] 王松[1] 王野[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2005年第7期709-713,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国防基础科研资助项目(J1300C1004);国家自然科学基金资助项目(10332040)

摘　　要：SPC-II型仿生机器鱼是利用尾鳍推进机理,实现机器鱼稳定、高速游动和验证机动性的一个实验平台.SPC-II不模仿某种特定鱼类的外形,而是把游动稳定性作为仿生水下航行器设计首要考虑的因素,有效克服艏摇的鱼体,使得尾鳍推进器的运动不受到干扰,同时也降低航行阻力.SPC-II长度约1.2m,采用完全刚体耐压舱,内部安装了电池、GPS(GlobalPositionSystem)和罗盘组合导航系统、2关节伺服电机推进系统,能在深度5m内进行定深的自主航行,速度达到了2.8kn,功耗小于250W.对直线航行速度,转弯机动性进行了测试,并进行了长距离风浪条件下的海试.与国内外相关实验平台进行了对比,在外形、航行速度方面展现出优越性.The SPC-Ⅱ fish robot prototype is an experimental platform which validates the stability, high efficiency and maneuverability by utilizing the caudal fin propulsion mechanism. SPC-Ⅱ doesn＇t simply mimic the shape of certain kind of real fish, but takes the swimming stability as the primary factor of undersea bionic vehicle design that is taken into consideration. It overcome the swing of fish body effectively , which makes tail fin propulsion break away from disturbance and reduce the sailing resistance. The SPC-Ⅱ, about 1.2 m long, utilizes an entirely rigid pressure hull with batteries, GPS（global position system）, compass and two-joint servomotors installed inside. SPC-Ⅱ can swim freely at a fixed depth within 5 m under water. Its maximum speed is 2.8 kn and its power consumption is less than 250 W. The line sailing velocity and turning maneuverability were tested. The test under the badly circumstance of long distance was taken. The comparisons with experimental platform home and broad show that he SPC-Ⅱ fish has its own advantages in the terms of its shape and sailing velocity.

关 键 词：仿生学 无人航行器 推进 移动机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]