一种基于STM32的多自由度机器海豚的设计

Design of A Multi-degree-of-freedom Machine Dolphin Based on STM32

目前的仿生机器海豚普遍机动性和灵活度较低,故本文提出了一种基于STM32的多自由度高机动性仿生机器海豚。采用了较低成本的大扭矩电机作为主动力,其连续旋转通过曲柄滑块机构带动尾鳍的上下拍动,头部和胸鳍总共拥有六个自由度,能够实现左右转向和上浮下潜等动作。控制系统采用上下位机联合控制的方案,具有实时监测、三维动态显示、数据图形化显示等功能,且下位机能够实现姿态控制、简单的声纳避障功能。同时具备低成本、多自由度等优点。经过软硬件调试后,在水下游动测试效果良好。

The current bionic dolphins have low mobility and flexibility.Therefore,this paper proposes a multi-degree-of-freedom and high-mobility bionic dolphins based on STM32.The low-cost high-torque motor is used as the main power,and its continuous rotation drives the caudal fin up and down by the crank slider mechanism.The head and the pectoral fin have a total of six degrees of freedom,which can realize left and right steering and floating and dive.The control system adopts the joint control scheme of the upper and lower position machine,and has the functions of real-time monitoring,three-dimensional dynamic display,data graphic display,etc.,and the lower position machine can realize attitude control and simple sonar obstacle avoidance function.At the same time,it has the advantages of low cost and multiple degrees of freedom.After the software and hardware debugging,the test in the downstream of the water is good.