一种仿生水下机器人的设计与动力学分析(英文)

作     者：WEI Qing-Ping WANG Shuo DONG Xiang SHANG Liu-Ji TAN Min 

作者机构：The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Intelligent Machines Chinese Academy of Sciences 

基　　金：Supported by National Natural Science Foundation of China(51175496,61233014,61005075) National High Technology Research and Development Program of China(863 Program)(2012AA041402) 

出 版 物：《自动化学报》 (Acta Automatica Sinica)

年 卷 期：2013年第39卷第8期

页      码：1330-1338页

摘      要：A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

主 题 词：水下机器人 车辆设计 动力学分析 起伏 仿生 鳍 计算流体动力学 运动学分析 

学科分类：080202[080202] 082304[082304] 08[工学] 0804[工学-材料学] 080204[080204] 0802[工学-机械学] 0823[工学-农业工程类] 

核心收录：

D　O　I：10.3724/SP.J.1004.2013.01330

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