一种六自由度仿生机器海豚

A Six-degree-of-freedom Bionic Robot Dolphin

为提升机动性与灵活度,设计一种具有图像传输功能的六自由度仿生机器海豚。对机器海豚的刚性头部、偏航腰部和两关节俯仰尾部的四关节系统进行设计;采用Arduino Uno3单片机输出PWM信号控制7路舵机,制定电气系统控制方案和防水密封方案,利用PS2手柄遥控机器海豚,通过尾部两关节上下摆动实现推进,腰部偏航关节实现转弯,舵机驱动配重块和一对单自由度的胸鳍实现俯仰姿态调节,通过实验验证方案的可行性。结果表明,该设计能实现机器海豚加减速前进、偏航、俯仰、原地转弯和双胸鳍拍水的运动姿态。

In order to improve the mobility and flexibility, a six-degree-of-freedom bionic robot dolphin with image transmission function is designed. A 4-joint system consisting of a rigid head, a yawing waist and a 2-joint pitching tail of the robot dolphin is designed. Arduino Uno3 MCU is used to output PWM signals to control 7 steering engines, the electrical system control scheme and waterproof sealing scheme are formulated, PS2 handle is used to remotely control the robot dolphin, the tail joint swings up and down to achieve propulsion, the waist yaw joint turns, and the steering engine drives the counterweight block and a pair of single-degree-of-freedom pectoral fins to achieve pitch attitude adjustment.The feasibility of the scheme is verified by experiments. The results show that the robot dolphin achieves the motion postures of acceleration and deceleration, yaw, pitch, turning in place and double pectoral fins beating water.