一种2自由度胸鳍推进仿生箱鲀机器鱼转弯特性研究

doi:10.13973/j.cnki.robot.2016.0593

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李宗刚, 马伟俊, 葛立明, 杜亚江. 一种2自由度胸鳍推进仿生箱鲀机器鱼转弯特性研究[J]. 机器人, 2016, 38(5): 593-602.DOI: 10.13973/j.cnki.robot.2016.0593. LI Zonggang, MA Weijun, GE Liming, DU Yajiang. Research on Turning Characteristics of a Biomimetic Robotic Boxfish Driven by Pectoral Fin with Two Degrees of Freedom. ROBOT, 2016, 38(5): 593-602. DOI: 10.13973/j.cnki.robot.2016.0593.

摘要以2自由度胸鳍推进仿生箱鲀机器鱼为对象，研究其在单侧胸鳍推进、两侧胸鳍协同推进、以及单侧胸鳍与尾鳍协同推进等3种情形下的转弯特性．首先给出了胸鳍和尾鳍的正弦运动规律，并建立了3种情形下的转弯水动力学模型．然后利用数值方法分析了单侧胸鳍推进、单侧胸鳍/尾鳍协同推进时机器鱼实现给定半径转弯，以及两侧胸鳍协同推进时机器鱼实现原地转弯的特性，并给出了相应的转弯条件．实验结果表明，单侧胸鳍/尾鳍协同推进时的平均转弯角速度为0.26rad/s；单侧胸鳍推进时的最大转弯角速度为0.314rad/s，最小转弯半径为0.74倍体长；双侧胸鳍协同推进时原地转弯平均角速度为0.42rad/s．与现有结果相比，所设计机器鱼转弯方式更为丰富，转弯机动性和转弯角速度较高．

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	李宗刚
	马伟俊
	葛立明
	杜亚江

关键词 ：仿生箱鲀机器鱼, 2自由度胸鳍, 水动力学分析, 转弯特性, 协同推进

Abstract：Turning characteristics of 2-DOF (degree of freedom) pectoral-fins propelled biomimetic robotic boxfish in three different cases are studied respectively, namely driven by unilateral pectoral fin, by two pectoral fins and by unilateral pectoral fin/caudal fin. First of all, the sinusoidal motion laws of pectoral fin and caudal fin are given. On this basis, the turning hydrodynamics models are established for the three cases. And then numerical methods are used to analyze characteristics of given-radius turnings when the fish is driven by unilateral pectoral fin, or by unilateral pectoral fin and caudal fin together, and also spot turnings when it is driven by bilateral pectoral fins. And corresponding turning conditions are also presented for each case. Experimental results show that the average angular velocity of turning achieves at 0.26 rad/s by unilateral pectoral fin and caudal fin propulsion. The maximum angular velocity of turning is at 0.314 rad/s, and the minimum radius of turning is 0.74 times of body length, when it is driven by unilateral pectoral fin. Average angular velocity of spot turning is 0.42 rad/s when it is driven by bilateral pectoral fins. Compared with the existing results, the designed robotic fish have more abundant behaviors of turning, the better maneuverability and the higher turning angular speed.

Key words： biomimetic robotic boxfish pectoral fin with two degrees of freedom hydrodynamics analysis turning characteristics synergetic propulsion

收稿日期: 2016-05-10 录用日期: 2016-09-02

TP24

基金资助:国家自然科学基金（61663020，61064008）；教育部科学技术研究重点项目（211185）；甘肃省自然科学基金（1208RJZA166）

通讯作者: 李宗刚，lizongg@126.com E-mail: lizongg@126.com

作者简介: 李宗刚（1975-），男，博士，教授．研究领域：复杂系统动力学分析与控制，智能仿生机器人；智能信息处理．
马伟俊（1989-），男，硕士生．研究领域：智能仿生机器人．
葛立明（1977-），男，讲师．研究领域：智能仿生机器人．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0593 或 https://robot.sia.cn/CN/Y2016/V38/I5/593

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