两栖环境中仿生鳍的推进机理及实验研究
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摘要
随着机器人技术的发展,机器人不再是单一的适应陆地或者水下环境,特别需要适应复杂的水陆交界区域过渡环境。研制具备通过性好、越障性能强、推进效率高、机动性和隐蔽性好、具有脱困能力的两栖机器人具有非常现实的意义,因此为提高两栖机器人在过渡环境中的通过性和适应性,优化两栖机器人的推进机构的形态、结构及运动参数亟待进行研究。过渡环境大多数为松软介质例如不同含水量的沙滩和泥浆,两栖机器人在松软介质中经常会出现打滑以及下陷的现象,这是由于环境介质的本构特性、机器人行进机构的形态和结构特征、以及行进机构的运动学参数等因素所导致的机器人与环境的相互作用动力学所决定的。研究机器人与过渡环境相互作用的机理,可提高两栖机器人在过渡环境中的通过性,使得两栖机器人可以真正的进行水陆转换走向实用。
本论文首先从仿生学的角度出发,围绕两栖机器人在过渡环境中的通过性和适应性问题,重点开展了两栖环境中推进机构的推进机理研究,并进行了两栖仿生推进机构的实验研究,为未来两栖机器人推进机构的研制提供了参考和借鉴。具体研究内容介绍如下：
(1)以具有优秀水下机动能力的锦鲤和两栖运动能力的弹涂鱼为仿生学研究对象,分别对锦鲤和弹涂鱼胸鳍的形态学和运动学进行了详细的研究,并详细介绍了运动学观测实验的三维实时高速摄像系统、坐标变换和数字图像处理技术的方法。分析了锦鲤胸鳍在悬停状态下鳍条的形态特征,然后对弹涂鱼在水里、两栖环境、陆地环境中进行了运动学分析,并获得了弹涂鱼在不同环境下的的运动学参数,然后将水生类胸鳍和两栖类胸鳍的形态结构和运动特征进行了比较分析,为研制两栖仿生胸鳍的设计和控制提供了参考。最后分析了弹涂鱼在不同波幅波长比下的推进速度,发现弹涂鱼在水中和两栖环境下有最优的波幅波长比,为仿生多关节两栖机器人的机械结构设计和运动控制提供了参数化的指导。
(2)根据弹涂鱼背主鳍在两栖环境中的形态特征,设计了五种不同形态参数的推进机构。基于RFT模型并采用微元分析法获得了推进机构与泥介质相互作用的受力情况,根据推进机构在两栖环境中的受力分析,结合过渡介质的应力、应变、强度和时间这四个变量之间的内在关系和仿生推进机构的具体形态参数,计算出了五种不同形态参数的推进机构在两栖环境中的力学特性,包括一个运动周期内水平推进力、竖直支撑力和转矩的变化规律。然后分别对比分析了不同形态参数、运动参数和含水率下推进机构的力学特性,得到了推进机构与两栖环境介质相互作用的规律,建立过渡环境介质的强度—变形理论,为两栖环境中推进机构的设计和优化提供有效的理论指导。
(3)以弹涂鱼胸鳍的形态学研究为基础,结合3D打印技术和相似理论,设计并实现了与仿生对象的整体尺寸以及对应鳍条的尺寸及分布形式一致的五种不同刚度的两栖仿生胸鳍。设计并搭建了两栖环境土槽实验平台,并介绍了两栖环境土槽实验平台的机械设计、硬件的搭建设计以及系统软件设计。研究了不同含水量、不同刚度、不同运动参数对两栖仿生鳍推进性能的影响,具体分析了两栖仿生鳍在运动周期内的平均推进力、竖直位移、最大转矩和平均推进速度运动特性,并对两栖仿生鳍的推进实验结果和两栖环境中推进机构推进机理进行了对比分析,验证了推进机理的可行性,为两栖环境中推进机构的研究提供了理论依据,并为两栖环境中的推进机构的研制走向实用提供了一般性的结论和设计原则。
With the development of robot technology, the robot is no longer a single adapting to land or underwater environment, which can accommodate the special needs of complex transitional environment of riparian areas. It will have a very real sense to develop amphibious robot which possess the good performance of trafficability characteristic and the ability of passing obstacle, high-efficiency propulsion, maneuvering and good concealment, as well as the ability of relieving in the complex amphibious transitional environment. Therefore, it should be carried out urgently to improve the amphibious robot of the good performance of trafficability characteristic and adaptability in amphibious environment, as well as optimizating form amphibious robot the morphological parameters, structure parameters and motion parameters of propulsion mechanism. Transitional environment is mainly composed of soft media such as sand and mud moisture, amphibious robot would often appeare the phenomenon of slipping and subsidence in the transitional environment, which is attributable to the constitutive characteristics of environmental media, morphological and structural features of amphibious robot propulsion mechanism, and cupping with kinematic parameters of propulsion mechanism and other factors. Research on interaction of propulsion mechanism of amphibious robots and the transitional environment, which can improve the performance of trafficability characteristic of amphibious robots in the transitional environment, making the conversion of wanter and land of amphibious robot can really go practical.
This thesis takes the perspective of bionics, surrounding the amphibious robot of the performance of trafficability characteristic and adaptability in amphibious environment, focusing on the propulsion mechanism of propulsion mechanism in amphibious environment, and we carry out an experimental study on amphibious biomimetic propulsion mechanism, which could provide a reference and bio-inspiration for the development of propulsion mechanism of amphibious robot. The main research contents and contributions of this thesis are presented as follows:
(1) Taking the Kop Carp possessing maneuvering characteristic and the mudskipper exhibiting excellent ability of amphibious sports ability as a bionics research object, morphology and kinematics of the Kop Carp and mudskipper pectoral fin are detailed investigated, as well as the three-dimensional real-time high-speed camera system for kinematics experimental observation, coordinate transformation and the method of digital image processing technology are presented. Firstly, we investigate the morphological characteristics of Koi Carp pectoral fin rays in the hovering state. The kinematic observations of mudskippers in the water, the amphibious environment, terrestrial environment respectively are conducted to obtaine some related kinematic parameters of mudskippers including speed of the mudskipper and movement angle of pectoral fin under different experimental environment, we compare with morphology and movement characteristics of aquatic and amphibian pectoral fin pectoral, the results provides a reference to design and development an amphibious biomimetic pectoral fin. Finally, we analyze the forward speed of mudskippers at different ratio between amplitude and wavelength. It is found out that there is an optimal ratio between amplitude and wavelength under water and amphibious environment, which provides parameterized guidance for design and motion control of bionic multi-joint amphibious robot.
(2) According to the morphological characteristics of mudskippers in amphibious environment, five different morphological parameters of the propulsion mechanism are designed. Based on RFT model and the method of micro-element analysis method to get interaction force conditions between propulsion mechanism and the media of mud, by using of the interaction force conditions and the stress, strain, intensity and time of of the transition medium, combined with intrinsic relationship of these four variables and specific morphological parameters of biomimetic propulsion mechanism, we calculate the mechanical properties of five different morphological parameters propulsion mechanism in amphibious environments, including the level of propulsion, vertical support force and torque variation in a movement cycle. Then we do comparative analysis of the properties of propulsion mechanism under different morphological parameters, the motion parameters and moisture content, interaction laws between the propulsion mechanism and amphibious environmental media has been gained, and intension-deformation theory of strength transitional environmental for the amphibious environment are also set up, which can rovide effective theoretical guidance for design and optimization of propulsion mechanism.
(3) Based on morphological study on pectoral fin of mudskipper, combined with3D printing technology and similarity theory. We have designed and implemented amphibious biomimetic pectoral fin with five different levels of stiffness and the corresponding size and uniformly distributed form of biomimetic pectoral fins consistent with bionic object. An amphibious environmental solid experiment platform has been built, and the mechanical design, system hardware design and system software design of the amphibious environmental solid experiment platform are detailly introduced. The propulsive performance of amphibious biomimetic fin in different water content, different stiffness, different sports kinematic parameters is conducted, some motion characteristics including average propulsion, vertical displacement, maximum torque and average propulsion speed of the amphibious biomimetic fin in the movement cycle are measured, and compare with the experiments results of amphibious biomimetic fin and the results of propulsion mechanisms in amphibious environments to verify the feasibility of propulsion mechanisms, which provides a theoretical basis for the research of propulsion mechanisms in amphibious environment, meanwhile the results can provide general conclusions and design principles for the development of propulsion mechanisms when that can really go practical.
本论文首先从仿生学的角度出发,围绕两栖机器人在过渡环境中的通过性和适应性问题,重点开展了两栖环境中推进机构的推进机理研究,并进行了两栖仿生推进机构的实验研究,为未来两栖机器人推进机构的研制提供了参考和借鉴。具体研究内容介绍如下：
(1)以具有优秀水下机动能力的锦鲤和两栖运动能力的弹涂鱼为仿生学研究对象,分别对锦鲤和弹涂鱼胸鳍的形态学和运动学进行了详细的研究,并详细介绍了运动学观测实验的三维实时高速摄像系统、坐标变换和数字图像处理技术的方法。分析了锦鲤胸鳍在悬停状态下鳍条的形态特征,然后对弹涂鱼在水里、两栖环境、陆地环境中进行了运动学分析,并获得了弹涂鱼在不同环境下的的运动学参数,然后将水生类胸鳍和两栖类胸鳍的形态结构和运动特征进行了比较分析,为研制两栖仿生胸鳍的设计和控制提供了参考。最后分析了弹涂鱼在不同波幅波长比下的推进速度,发现弹涂鱼在水中和两栖环境下有最优的波幅波长比,为仿生多关节两栖机器人的机械结构设计和运动控制提供了参数化的指导。
(2)根据弹涂鱼背主鳍在两栖环境中的形态特征,设计了五种不同形态参数的推进机构。基于RFT模型并采用微元分析法获得了推进机构与泥介质相互作用的受力情况,根据推进机构在两栖环境中的受力分析,结合过渡介质的应力、应变、强度和时间这四个变量之间的内在关系和仿生推进机构的具体形态参数,计算出了五种不同形态参数的推进机构在两栖环境中的力学特性,包括一个运动周期内水平推进力、竖直支撑力和转矩的变化规律。然后分别对比分析了不同形态参数、运动参数和含水率下推进机构的力学特性,得到了推进机构与两栖环境介质相互作用的规律,建立过渡环境介质的强度—变形理论,为两栖环境中推进机构的设计和优化提供有效的理论指导。
(3)以弹涂鱼胸鳍的形态学研究为基础,结合3D打印技术和相似理论,设计并实现了与仿生对象的整体尺寸以及对应鳍条的尺寸及分布形式一致的五种不同刚度的两栖仿生胸鳍。设计并搭建了两栖环境土槽实验平台,并介绍了两栖环境土槽实验平台的机械设计、硬件的搭建设计以及系统软件设计。研究了不同含水量、不同刚度、不同运动参数对两栖仿生鳍推进性能的影响,具体分析了两栖仿生鳍在运动周期内的平均推进力、竖直位移、最大转矩和平均推进速度运动特性,并对两栖仿生鳍的推进实验结果和两栖环境中推进机构推进机理进行了对比分析,验证了推进机理的可行性,为两栖环境中推进机构的研究提供了理论依据,并为两栖环境中的推进机构的研制走向实用提供了一般性的结论和设计原则。
With the development of robot technology, the robot is no longer a single adapting to land or underwater environment, which can accommodate the special needs of complex transitional environment of riparian areas. It will have a very real sense to develop amphibious robot which possess the good performance of trafficability characteristic and the ability of passing obstacle, high-efficiency propulsion, maneuvering and good concealment, as well as the ability of relieving in the complex amphibious transitional environment. Therefore, it should be carried out urgently to improve the amphibious robot of the good performance of trafficability characteristic and adaptability in amphibious environment, as well as optimizating form amphibious robot the morphological parameters, structure parameters and motion parameters of propulsion mechanism. Transitional environment is mainly composed of soft media such as sand and mud moisture, amphibious robot would often appeare the phenomenon of slipping and subsidence in the transitional environment, which is attributable to the constitutive characteristics of environmental media, morphological and structural features of amphibious robot propulsion mechanism, and cupping with kinematic parameters of propulsion mechanism and other factors. Research on interaction of propulsion mechanism of amphibious robots and the transitional environment, which can improve the performance of trafficability characteristic of amphibious robots in the transitional environment, making the conversion of wanter and land of amphibious robot can really go practical.
This thesis takes the perspective of bionics, surrounding the amphibious robot of the performance of trafficability characteristic and adaptability in amphibious environment, focusing on the propulsion mechanism of propulsion mechanism in amphibious environment, and we carry out an experimental study on amphibious biomimetic propulsion mechanism, which could provide a reference and bio-inspiration for the development of propulsion mechanism of amphibious robot. The main research contents and contributions of this thesis are presented as follows:
(1) Taking the Kop Carp possessing maneuvering characteristic and the mudskipper exhibiting excellent ability of amphibious sports ability as a bionics research object, morphology and kinematics of the Kop Carp and mudskipper pectoral fin are detailed investigated, as well as the three-dimensional real-time high-speed camera system for kinematics experimental observation, coordinate transformation and the method of digital image processing technology are presented. Firstly, we investigate the morphological characteristics of Koi Carp pectoral fin rays in the hovering state. The kinematic observations of mudskippers in the water, the amphibious environment, terrestrial environment respectively are conducted to obtaine some related kinematic parameters of mudskippers including speed of the mudskipper and movement angle of pectoral fin under different experimental environment, we compare with morphology and movement characteristics of aquatic and amphibian pectoral fin pectoral, the results provides a reference to design and development an amphibious biomimetic pectoral fin. Finally, we analyze the forward speed of mudskippers at different ratio between amplitude and wavelength. It is found out that there is an optimal ratio between amplitude and wavelength under water and amphibious environment, which provides parameterized guidance for design and motion control of bionic multi-joint amphibious robot.
(2) According to the morphological characteristics of mudskippers in amphibious environment, five different morphological parameters of the propulsion mechanism are designed. Based on RFT model and the method of micro-element analysis method to get interaction force conditions between propulsion mechanism and the media of mud, by using of the interaction force conditions and the stress, strain, intensity and time of of the transition medium, combined with intrinsic relationship of these four variables and specific morphological parameters of biomimetic propulsion mechanism, we calculate the mechanical properties of five different morphological parameters propulsion mechanism in amphibious environments, including the level of propulsion, vertical support force and torque variation in a movement cycle. Then we do comparative analysis of the properties of propulsion mechanism under different morphological parameters, the motion parameters and moisture content, interaction laws between the propulsion mechanism and amphibious environmental media has been gained, and intension-deformation theory of strength transitional environmental for the amphibious environment are also set up, which can rovide effective theoretical guidance for design and optimization of propulsion mechanism.
(3) Based on morphological study on pectoral fin of mudskipper, combined with3D printing technology and similarity theory. We have designed and implemented amphibious biomimetic pectoral fin with five different levels of stiffness and the corresponding size and uniformly distributed form of biomimetic pectoral fins consistent with bionic object. An amphibious environmental solid experiment platform has been built, and the mechanical design, system hardware design and system software design of the amphibious environmental solid experiment platform are detailly introduced. The propulsive performance of amphibious biomimetic fin in different water content, different stiffness, different sports kinematic parameters is conducted, some motion characteristics including average propulsion, vertical displacement, maximum torque and average propulsion speed of the amphibious biomimetic fin in the movement cycle are measured, and compare with the experiments results of amphibious biomimetic fin and the results of propulsion mechanisms in amphibious environments to verify the feasibility of propulsion mechanisms, which provides a theoretical basis for the research of propulsion mechanisms in amphibious environment, meanwhile the results can provide general conclusions and design principles for the development of propulsion mechanisms when that can really go practical.
引文
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