实现预定游速的仿鱼机器人最佳效率运动规划  

Motion Planning on Optimum Efficiency of Fishlike Robot Achieving Prescribed Swimming Velocity

作　　者：陈维山[1] 夏丹[1] 刘军考[1] 韩路辉[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《机械工程学报》2010年第17期22-28,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905040);哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题(SKLRS200801C)资助项目

摘　　要：对仿鱼机器人推进而言,实现一个预定的游动速度可能存在多种运动方式,其中效率最高的运动方式只有一种。对实现预定游速的仿鱼机器人获得最佳效率进行运动规划研究。运用数值模拟方法,获得仿鱼机器人的稳态游动速度,揭示其稳态速度、功率消耗和推进效率与不同运动方式之间的内在规律;进一步以获得最佳效率为目标函数,以实现预定游速为约束条件,以摆动频率f和尾部最大摆幅Amax定义的运动空间为设计变量,对仿鱼机器人进行运动规划研究。结果表明,低f和高Amax的运动方式可以在实现预定游速的同时,获得最佳的推进效率。以实现预定游速2m·s–1为例,低f和高Amax的运动方式其推进效率较高f和低Amax提高了37.7%,二者的三维流场结构清晰地反映了这一规律。研究结果对于获得仿鱼机器人实现预定游速的高效运动规律,揭示稳态游动机理,设计仿鱼机器人的推进动作具有重要意义。As for fishlike robot propulsion,there exist a number of possible motion modes to achieve a prescribed swimming velocity. But for optimum efficiency,there is only one mode. The motion planning on optimum efficiency of fishlike robot is presented to achieve a prescribed velocity. The steady state swimming can be realized and the intrinsic rules for the steady velocity,power consumption and propulsive efficiency with respect to different motion modes are revealed by using the numerical simulation method. The problem of motion planning is formulated to find the motion mode that maximizes the efficiency over the motion space,which is defined by oscillating frequency f and maximum amplitude Amax,subject to the prescribed velocity. The results show that the motion mode with lower f and higher Amax can obtain optimum efficiency while subjected to the prescribed velocity. Taking 2 m·s–1 for example,the value of efficiency for the motion mode with lower f and higher Amax increases by 37.7% compared with that of higher f and lower Amax,and this trend is clearly reflected by the three-dimensional flow structure. The findings are of great significance to the acquirement of efficient motion laws,understanding of swimming mechanism and the propulsive motion design for fishlike robot.

关 键 词：仿鱼机器人 运动规划 预定游速 最佳效率 流场结构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]