[1]周 林,黄 贺,董二宝,等.基于双斜面偏转关节的新型仿生机器鱼推进机构研究[J].机械与电子,2017,(07):73-76,80.
　ZHOU Lin,HUANG He,DONG Erbao,et al.Research on the Novel Propulsion Mechanism of Bionic Robotic Fish Based on Dual-Bevel Deflection Joint[J].Machinery & Electronics,2017,(07):73-76,80.
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基于双斜面偏转关节的新型仿生机器鱼推进机构研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年07期
页码:
73-76,80
栏目:
智能工程
出版日期:
2017-07-25

文章信息/Info

Title:
Research on the Novel Propulsion Mechanism of Bionic Robotic Fish Based on Dual-Bevel Deflection Joint
文章编号:
1001-2257(2017)07-0073-04
作者:
周 林; 黄 贺; 董二宝; 杨 杰
(中国科学技术大学工程科学学院精密机械与精密仪器系,安徽 合肥 230026)
Author(s):
ZHOU Lin;  HUANG He;  DONG Erbao; YANG Jie
(Department of Precision Machinery and Precision Instrumentation,School of Engineering Science, University of Science and Technology of China, Hefei 230026, China)
关键词:
仿生机器鱼;  推进机构;  双斜面偏转关节;  运动学;  游动控制
Keywords:
bionic robotic fish;  propulsion mechanism;  dual-bevel deflection joint;  kinematics;  swimming control
分类号:
TP24
文献标志码:
A
摘要:
提出一种用于仿生机器鱼的新型尾部推进机构,该机构主要由双斜面偏转关节构成,可通过调节推进机构的2个驱动电机耦合转动来完成其两自由度偏摆运动。首先,阐明了该两自由度耦合偏摆关节的运动学机理,并通过ADAMS运动仿真,验证了其应用于机器鱼上实现直线游动的可行性。然后,建立了仿生机器鱼的直线巡游控制策略,并采用无人机航拍在户外水塘中进行了直线游动实验。水下实验测试结果表明,该仿生机器鱼可实现速度可控的直线巡游,最大速度为0.69 m/s。与现有结果相比,基于双斜面偏转关节的仿生推进机构可为机器鱼设计提供新的参考。
Abstract:
This paper presents a novel tail propulsion mechanism for bionic robotic fish, which is mainly composed of a dual-bevel deflection joint. The two drive motor couplings of the propulsion mechanism are adjusted to achieve the two-DOF(degree of freedom)yawing motion. Firstly, the kinematics mechanism of the yawing was expounded, and by the motion simulation with ADAMS, the feasibility of applying the joint in robotic fish to achieve straight swimming was verified. Secondly, the control strategy for straight swimming of the bionic robotic fish was designed, and UAV(unmanned aerial vehicle)was used to photograph the straight swimming experiment in the outdoor pound. The underwater experimental results show that the bionic robotic fish can achieve a speed-controlled linear cruise with a maximum speed of 0.69 m/s. Compared with the existing results, the bionic propulsion mechanism based on dual-bevel deflection joint provides new references for the robotic fish design.

参考文献/References:

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[3] Spyridonis F, Grønli T M, Hansen J, et al. Evaluating the usability of a virtual reality-based android application in managing the pain experience of wheelchair users[C]// 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC),2012:2460-2463.
[4] Luo Z, Lim C K, Chen I M, et al. A virtual reality system for arm and hand rehabilitation[J].Frontiers of Mechanical Engineering, 2011, 6(1):23-32.
[5] 魏迎梅, 王涌, 吴泉源,等. 碰撞检测中的层次包围盒方法[J].计算机应用,2000,20(增刊1):241-244.

备注/Memo

备注/Memo:
收稿日期:2017-03-02
基金项目:国家自然科学基金资助项目(51275501,51105349,61375095)
作者简介:周 林(1990-),男,湖北随州人,硕士,研究方向为仿生机器人; 黄 贺(1987-),男,安徽寿县人,博士,研究方向为仿生机器人; 董二宝(1982-),男,内蒙古呼和浩特人,博士,副教授,研究方向为仿生机器人; 杨 杰(1946-),男,上海人,教授,研究方向为仿生机器人、形状记忆合金。
更新日期/Last Update: 2017-07-25