水下滑翔机器鱼机构设计与运动性能分析  

Mechanism design and motion performance analysis of an underwater gliding robotic fish

作　　者：葛立明[1,2] 李宗刚[1,2] 王琦山 杜亚江[1,2] GE Li-ming;LI Zong-gang;WANG Qi-shan;DU Ya-jiang(School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机器人研究所,兰州730070

出　　处：《船舶力学》2020年第1期31-40,共10页Journal of Ship Mechanics

基　　金：国家自然科学基金（61663020）;甘肃省教育厅科研成果转化项目（2018-D-10）

摘　　要：本文设计了一种具有仿生尾鳍的水下滑翔机器人混合驱动机构,通过内部质量块的平移、旋转、仿生尾鳍的偏置以及外部皮囊的伸缩可实现滑翔机器人的小半径三维螺旋运动。同时,建立了水下滑翔机器鱼的水动力学模型,得到了稳态螺旋运动方程,给出了俯仰调节机构质心位置、尾鳍角、横滚调节机构质心旋转角与转弯半径和垂直速度之间的关系,以及每种稳态螺旋运动所对应的输出变量初值的取值范围。所得结果表明,在俯仰调节、浮力调节、横滚调节和尾鳍驱动的共同作用下,水下滑翔机器鱼可以获得更小的转弯半径,因而机动性更好。所设计的水下滑翔机器鱼在河流和湖泊等环境的水质监测、水下柱形区域取样等领域具有潜在的应用价值。A new hybrid drive mechanism with a bionic caudal fin is proposed for the underwater glider,which can realize the spiraling motion with a small radius by translating and rotating of internal mass,expanding and contracting of external leather bag,and offsetting of caudal fin.The hydrodynamic model is established for the proposed gliding robotic fish and the equation of steady spiraling motion of it is also obtained.Then,the relations are given among the turning radius,vertical speed and the parameters,including the centroid position of pitching adjustment mechanism,the offset angle of caudal fin and the centroid rotation angle of rolling adjustment mechanism.Meanwhile,the ranges of original values of the six output variables,which correspond to each of steady spiraling motion,are also obtained.The presented results show that the gliding robotic fish can obtain a smaller turning radius and better maneuverability as it is controlled by pitching,rolling,net buoyancy and caudal fin together.The proposed gliding robotic fish has the potential application in the field of environment monitoring of rivers and lakes such as sampling of underwater cylindrical region,etc..

关 键 词：水下滑翔机器人 仿生驱动 机构设计 水动力学建模与分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]