仿生机器魟鱼研制与游动性能实验研究  

Development and swimming experimental research on bionic stingray robot

作　　者：王扬威[1] 闫勇程[1] 刘凯[1] 赵东标[1] WANG Yang-wei YAN Yong-cheng LIU Kai ZHAO Dong-biao(College of Mechanical and Klectrical Engineering , Nanjing University of Aeronautics and Astronautics ,Nanjing 210016, China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《浙江大学学报（工学版）》2017年第1期106-112,共7页Journal of Zhejiang University：Engineering Science

基　　金：江苏省自然科学基金资助项目(BK20130796);国家自然科学基金资助项目(51405229);中央高校基本科研业务费专项资金资助研究生创新基地(实验室)开放基金资助项目(kfjj20150517)

摘　　要：为了开发一种游动稳定性和机动性高的水下机器人,从鳐科模式游动的魟鱼胸鳍波动推进中得到灵感,在分析肌肉和骨骼结构的基础上,设计带有环形长鳍的仿生机器魟鱼,研究机动游动的控制策略.研制仿生机器魟鱼样机.基于游动图像序列处理方法,通过实验研究波动频率和幅值对游动性能的影响.结果表明,仿生样机能够实现与魟鱼相似的游动运动,游动稳定性好、机动性高,直线游动速度和原地转弯速度随波动频率和波动幅值的增大而增大,最大直线游动速度为109mm/s,最大原地转弯速度为93°/s.A bionic stingray robot with an annular long-fin was designed based on an inspiration from the undulating propulsion of stingray,a fish of rajiform, which moves forward with its pectoral fin undulating.An analysis on the stingray＇s muscle and skeleton structure was conducted.A control strategy was formulated for maneuvering swimming,and a prototype of bionic stingray robot was developed.Then an experimental research of the influence of undulating frequency and amplitude was conducted on its swimming performance based on swimming image sequence processing method.Results show that the bionic robot prototype can swim in a way similar to stingray with a high swimming stability and maneuverability.The straight-line swimming velocity and standing turning velocity can increase with undulating frequency and amplitude.The maximum straight-line swimming velocity can reach 109mm/s,and the maximum standing turning velocity can reach 93°/s.

关 键 词：水下机器人 魟鱼 波动推进 控制策略 游动性能 

分 类 号：TH113[机械工程—机械设计及理论]