TheDesign,ModellingandImplementationofaMiniatureBiomimeticRoboticFish资源-CSDN文库

robotic

motion;

100 浏览量 2021-02-20 12:08:28 上传评论收藏 795KB PDF 举报

资源推荐

资源详情

资源评论

International Journal of Robotics and Automation, Vol. 25, No. 3, 2010

THE DESIGN, MODELLING AND

IMPLEMENTATION OF A MINIATURE

BIOMIMETIC ROBOTIC FISH

C. Zhou,

∗

Z. Cao,

∗

S. Wang,

∗

and M. Tan

∗

Abstract

This paper proposes a miniature biomimetic robotic ﬁsh based on

a single joint with a compact structure, high manoeuvrability and

multiple sensors, and a model of freely swimming situation is built

based on Lagrangian function. The robotic ﬁsh mimics the motion

of Thunniform ﬁsh, and methods of propelling, turning and C-sharp

turning are given. To model the motion of robotic ﬁsh, the ﬂuid

force acting on the robotic ﬁsh is divided into three parts. By

solving Lagrange’s equation of the second kind, the movement and

motion parameters of robotic ﬁsh are obtained. Simulated results

of motions are given, and experiments are carried out to verify the

model.

Key Words

Miniature robotic ﬁsh, biomimetic motion, kinematic modelling,

parameter optimization

1. Introduction

There are more and more productive underwater activi-

ties and research works, which make the existing under-

water equipments cannot satisfy changing requests, and

autonomous underwater vehicle (AUV) has received much

attentions. Attracted by ﬁsh with high eﬃciency, high

manoeuvrability and low noise, roboticists explore ﬁsh-like

underwater robots or robotic ﬁsh to develop small size,

eﬃcient, manoeuvrable and low noise AUVs [1]. The

development of miniature robotic ﬁsh oﬀers great advan-

tages for specialist underwater requirements associated

with pipelines and gaps, such as exploration, mining, ecol-

ogy etc. Additionally, miniature robotic ﬁsh can poten-

tially be manufactured cheap enough to be mass-produced,

which may enhance the quality of the solution by coop-

eration among them. A biomimetic robotic ﬁsh can be

deﬁned as an aquatic vehicle propelled by bionic undu-

latory ﬁns, usually with the undulatory/oscillatory body

∗

Laboratory of Complex Systems and Intelligence Science, In-

stitute of Automation, Chinese Academy of Sciences, No. 95,

Zhongguancun East Road, Beijing 100190, China; e-mail:

{zhouchao, zqcao, swang, tan}@compsys.ia.ac.cn

Recommended by Dr. Paolo Remagnino

(10.2316/Journal.206.2010.3.206-3316)

and ﬁns motions. Investigations of biomimetic robotic ﬁsh

have provided signiﬁcant insights into both theory and ap-

plication in recent years [2, 3]. These advantages are of

great beneﬁt to applications in marine and military ﬁelds.

Many theories are proposed to explore the secrets of ﬁsh

swimming mechanisms and summarize driving modes of

ﬁsh motions. Based on these theories, many prototypes

of biomimetic robotic ﬁsh have been developed. Some

works are done on the motion model [4–6] and control of

robotic ﬁsh [7, 8]. McIsaac and Ostrowski [4] and Cort´es

et al. [5] gave a Lagrangian model, reduced by Lie group

symmetries, for a symmetrical structure robot eel. Boyer

et al. [6] present the dynamic modelling of a continu-

ous 3-D swimming eel-like robot. In previous project in

our lab, a series of multi-link robotic ﬁsh prototype are

ﬁnished, and the control, information procession, co-

operation and 3D locomotion of them are studied

[9, 10].

In this paper, the design of a miniature biomimetic

robotic ﬁsh is given based on single joint undulating.

The prototype is 15-cm long and integrates the control

system, wireless communication module, battery power,

servo, infrared and light intensity sensors. The robotic

ﬁsh may execute tasks independently and autonomously

by the control law. To deal with the model problem

of our ﬁsh, a model is given in this paper for freely

swimming without the assumption of non-oscillatory ﬁsh

head. The model is based on Lagrangian function and

a simpliﬁed hydrodynamic model, the two of which are

connected by the Lagrange’s equation of the second kind.

The kinematics–dynamics model is got in the form of a set

of partial diﬀerential equations.

By considering the coupling of the kinematic law in

continuous motions and the force acted on robotic ﬁsh,

both of which cannot be calculated respectively, the La-

grangian function of the freely swimming robotic ﬁsh is

built. In this model, the robotic ﬁsh is simpliﬁed to jointed

plates. The kinematic model of this robotic ﬁsh is given to

discuss the propulsion, which is based on the Lagrange’s

equation and the hydrodynamic force. Then, the move-

ment is calculated by solving the Lagrange’s equation of

the second kind. Based on this model, the kinematic pa-

rameters are calculated, and the amplitude and frequency

210

of the tail oscillating are optimized based on the power

of the motor.

The rest of the paper is organized as follows. The

structure design and the biomimetic motion of the robotic

ﬁsh are introduced in Section 2. Section 3 approaches the

robotic ﬁsh’s dynamic model and the ﬂuid force model. Re-

sults of simulations and experiments are given in Section 4,

and Section 5 concludes the paper.

2. The Design of the Robotic Fish and Motion Con-

trol

2.1 The Structure of the Robotic Fish

Fish swimming motion of BCF (body/caudal ﬁn propul-

sion) modes can be divided into ﬁve diﬀerent modes ac-

cording to the wavelength and the amplitude envelope of

the propulsive wave underlying the ﬁsh’s behaviour. They

are

Anguilliform mode, Subcarangiform mode, Carangi-

form mode, Thunniform mode and Ostraciiform mode

[11]. Among them, Thunniform mode is one of the

most eﬃcient, where thrust is generated with a lift-based

method, allowing high cruising speeds to be maintained for

long periods, and it is one of the popular bionic targets.

Signiﬁcant lateral movements occur only at the caudal ﬁn.

In addition, the reduction of the length of the undulating

part simpliﬁes the structure, and reduces the volume on

the whole. In this paper, a novel Thunniform-mode-based

miniature robotic ﬁsh is designed (Fig. 1). A servo motor

is adopted to drive a lunate caudal ﬁn as the propeller of

the robotic ﬁsh, according to ﬁsh outline and its motion

characteristics. The servo is agile and controllable with-

out additional driver, and more energy is saved than the

driving units which adopt the new materials such as SMA

(shape memory alloys).

Figure 1. The schematic structure of the robotic ﬁsh.

All assembly units are highly cost-eﬀective ones be-

cause of the volume restriction. The forebody is ﬁsh-

shaped, thin and hard plastic with the servo ﬁxed on it.

The controller integrates the functions of information ac-

quisition and processing, communication, control and mo-

tion decision. The tail is covered by thin ﬂexible rubber

ﬁlm as waterproofer, which has little aﬀection on the un-

dulating. The wireless signal is sent by an antenna out

of the water. Li-Polymer Batteries are chosen because of

the high energy density. In addition, infrared sensors are

selected, instead of the sonar sensors to minimize volume.

Photosensitive sensors are mounted on the robot for de-

tecting the light source. The average density of the robotic

ﬁsh except the buoyage is made a little higher than water.

The robotic ﬁsh will ﬂoat on water with the buoyage, so

that all the body is under the water, which is favourable

to the stable propelling.

2.2 The Bionic Motion

Thunniform mode motion involves the undulation of the

entire body, whose large amplitude undulation is mainly

conﬁned to the last 1/3 part of the body. A Thunniform

propulsive model is given to describe the motion in the

frame as shown in Fig. 2. It is a polar coordinate system

with the pole O at the joint and the polar axis pointing

to the tail’s initial direction. The other one XO

Y is the

world rectangular coordinate system (WRCS):

Figure 2. Coordinates of the robotic ﬁsh.

Equation (1) provides a method to design the robotic

ﬁsh: choose parameters

Amp and f to determine the

proper body wave and then develop a mechanical structure

to ﬁt the curve, so that the ﬁsh’s locomotion may be

emulated. Discretize (1), and we have (2):

body

(t)=Amp · sin(2πft) (1)

where A

body

is the real-time angle of the tail, Amp is the

undulation amplitude and f is the frequency of the wave:

body

(i)=Amp · sin(2πi/M) (2)

where i is the variable of spline curve sequence, M is the

body-wave resolution that represents the discrete degree of

the overall travelling wave.

The turn of the ﬁsh is implemented by changing the

axis of the body undulation. Based on it, the direction

of the robotic ﬁsh may be controlled. A certain angle is

superposed on the caudal ﬁn. It is necessary to ensure that

the undulating rule marches (2) when turning. Rewriting

(2), we have:

body

(i)=Amp · sin(2πi/M)+A

turn

(3)

where A

turn

is the deﬂection angle of the caudal ﬁn. This

turning method is used in continuing and stable turning

movement.

There is another ﬁsh motion called C-sharp turning,

in which the ﬁsh bend to the shape of the letter “C”, and

211

剩余6页未读，继续阅读

评论收藏

内容反馈

weixin_38642636

粉丝: 12
资源: 931

The Design, Modelling and Implementation of a Miniature Biomimet...

最新资源

The Design, Modelling and Implementation of a Miniature Biomimet...

学习BLDC电机MatlabSimulink建模分享学习资料-BLDC Motor Modelling and Control – A Matlab Simulink Implementation .rar

Robotics Modelling, Planning and Control

Modelling

ROBOTIC FISH

Engineering Design via Surrogate Modelling: A Practical Guide-1.pdf

Introduction to the Modelling of Marine Ecosystems

The Econometric Modelling of Financial Time Series 3rd

Railway Noiseand Vibration：Mechanisms, Modelling and Means of Control.pdf

Modelling and Generating Ajax Applications A Model-Driven Approach

Engineeing Design via Surrogate Modelling-A practical guide

Hadoop_Data Processing and Modelling-Packt Publishing(2016).pdf

Modelling and Control of Hybrid Systems

Design.Principles.for.Process-driven.Architectures.184968944X

Agent-based Modelling and Geographical Information Systems

modelling and analysis of electric power systems

Process Modelling for Control

Dynamic modelling and simulation of plate heat exchangers

Applications of MATLAB in Science and Engineering

Discrete Choice Analysis: Theory and Application to Travel Demand

Ultra-Dense Networks for 5G and Beyond：Modelling, Analysis, and App 2019.pdf

最新资源