基于仿生水母的水下机器人结构设计与试验研究  

Structural design and experimental study of underwater robots based on biomimetic jellyfish

作　　者：张冬冬 江一行 范云杰 孙垒 ZHANG Dongdong;JIANG Yihang;FAN Yunjie;SUN Lei(Institute of Intelligent Manufacturing,Zhejiang Institute of Mechanical and Electrical Engineering,Hangzhou 310053,China)

机构地区：[1]浙江机电职业技术学院智能制造学院,浙江杭州310053

出　　处：《机电工程》2024年第4期739-746,共8页Journal of Mechanical & Electrical Engineering

基　　金：浙江省教育厅一般科研项目(Y201941688);浙江机电职业技术学院科教融合重点研究课题(A-0271-21-209)。

摘　　要：针对水下探测机器人隐蔽性好的需求,设计了一种仿生水母机器人。首先,进行了水母机器人的仿生设计,通过生物特征提取及功能耦合确定了机器人的功能设计要求,基于机构原理图,进行了三维模型设计;其次,对多杆推进机构进行了运动学求解,获得了两个闭环求解方程,并以此为依据,给定了一个尺寸设计案例;然后,采用ANSYS软件对设计案例进行了刚柔耦合分析和模态分析,对关键结构的强度和刚度进行了验证,获得了结构的低阶模态频率及振型,并为声学驱鱼装置的选择提供了依据;最后,根据设计模型制作了实物样机并进行了水下调试,获得了试验参数并验证了机器人的功能。研究结果表明:多杆推进机构在运动过程中最大等效应力约为4.92 MPa,最大变形量约为3.89 mm,该结构满足强度和刚度要求;通过实物样机制作与试验,实现了仿生水母机器人的水下游动和转向等功能,初步验证了方案的可行性;机器人在主驱动电机初设转速的驱动下,直线运动速度约为58.3 mm/s,转向速度约为22.5°/s。Aiming at the demand for good concealment of underwater detection robots,a biomimetic jellyfish robot was designed.Firstly,biomimetic design of the jellyfish robot was carried out,the functional design requirements of the robot was determined through biometric feature extraction and functional coupling,and a 3D model was designed based on the mechanism schematic diagram.Secondly,kinematic solution on the multi-bar propulsion mechanism was performed,two closed-loop solving equations was obtained,and a size design case was provided based on this.Then,rigid-flexible coupling analysis and modal analysis were conducted with ANSYS software,the strength and stiffness of key structures were verified,the low-order modal frequencies and vibration mode of the structure were obtained and provide a basis for the selection of acoustic fish driving devices.Finally,according to the design model,a physical prototype was made and underwater debugging was carried out,the experimental parameters were obtained and the functionality of the robot was verified.The research results indicate that the maximum equivalent stress of the multi-bar propulsion mechanism during motion is about 4.92 MPa,and the maximum deformation is about 3.89 mm,the structure meets the requirements of strength and stiffness.Through the production and testing of physical prototype,the underwater swimming and steering functions of biomimetic jellyfish robot are achieved,and the feasibility of the scheme is preliminarily verified.The linear motion speed of the robot is approximately 58.3 mm/s and the turning speed is approximately 22.5°/s under the initial setting speed of the main drivemotor.

关 键 词：水下探测机器人 多杆推进机构 运动学求解 刚柔耦合分析 特征提取 功能耦合 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]