一种新型的胸鳍摆动模式推进机器鱼设计与实现  

Design and Development of a New Kind of Pectoral Oscillation Propulsion Robot Fish

作　　者：杨少波[1] 韩小云[1] 张代兵[1] 邱静[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《机器人》2008年第6期508-515,共8页Robot

基　　金：国家自然科学基金资助项目(50405006);国防科技大学博士研究生创新资助项目(B060302)

摘　　要：首先研究了牛鼻鲼的形态学特点,对牛鼻鲼的运动学特性进行了观测,并进行了运动学建模;然后基于"结构相似"的原理,研制出一种新型的胸鳍摆动模式推进机器鱼——"牛鼻鲼—Ⅰ".该机器鱼被设计成扁平形,由主体和胸鳍两部分组成,无尾鞭,主体为刚性,三角形胸鳍为弹性.整个机器鱼总质量为1 kg,弦长300 mm,最大展宽为500 mm.机器鱼通过8个左右对称的伺服电机按照一定的相位差驱动刚性鳍条,在胸鳍上实现了0.4个波长的正弦推进波.在水箱实验中,当左右胸鳍同向运动时,机器鱼达到了0.13 m/s的前进速度和0.15 m/s的后退速度;当左右胸鳍反向运动时,机器鱼在约8 s内完成了原地360°转弯,表现出优良的机动性.The morphology characteristics of cownose ray is analyzed firstly and kinematic characteristics of cownose ray is observed as well as its kinematic model is set up. Then a new pectoral oscillation propulsion robotic fish named as ＂Cownose Ray- Ⅰ＂ is developed based on the principle of ＂likeness in shape＂. The robot fish is designed to be flat-shaped, consisting of two parts of main body and pectoral fins, without tail. The material of the main body is rigid while that of the triangular pectoral fins elastic. The chord of the robot fish whose total weight is 1 kg, its length is 300 mm, and its maximum span is 500 mm. The robot fish drives the rigid fin rays by eight eudipleural servo-motors according to certain phase difference, then 0.4 sine propulsion wave is achieved along the pectoral fins. Testing in the water tank, the robot fish gets forward velocity of 0.13 m/s and backward velocity of 0.15 m/s while left and right pectoral fins are moving in the same direction, and while both of the pectoral fins are moving reversely, the robot fish can turn 360° circling the origin point in about 8 seconds, presenting its excellent maneuverability.

关 键 词：机器鱼 胸鳍摆动模式推进 推进波 相位差 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]