仿乌贼水下机器人设计与控制

The Design and Control of Squid-Like Underwater Robot

【目的】本文研究一种新型仿乌贼水下机器人的系统设计,包括水下机器人机械结构设计和驱动系统设计。【方法】本文建立仿乌贼水下机器人动力学模型、双波动鳍运动学模型以及波动推进力/力矩―行波参数映射模型。【结果】研制了仿乌贼水下机器人样机,在室内水池和开放水域进行了不同模态运动实验,并进行了深度闭环控制实验。【结论】实验结果显示所构建的波动鳍推进仿乌贼水下机器人具有良好的运动能力。

[Objective]Different from traditional underwater vehicles,the squid-like underwater robot has the advantages of low noise and good maneuverability.In this paper,the system design of the squid-like underwater robot was studied,including the mechanical structure design and drive system design.[Methods]The dynamic model of the squid-like underwater robot,the kinematic model of the undulating fins and the mapping model from propulsive force/torque to traveling wave parameter were established.[Results]The prototype of the squid-like underwater robot was developed.Then,multiple motion patterns such as marching,receding,turning,submerging and surfacing were achieved and tested.Besides,depth control experiment was performed.[Conclusion]Experimental results show that the squid-like underwater robot propelled by undulatory fins has good mobility.