摘要
无缆磁控微型机器人由于其尺寸小、质量轻,在生物医疗、微操作领域等都有着广阔的应用前景。设计一种十字叉形磁控微型软体四足机器人,采用水母模式、螺旋桨模式实现机器人的水下运动。首先分别对磁控四足机器人的水母模式和螺旋桨模式进行动力学分析,然后通过静态特性和动态特性分别对两种模式进行仿真与试验的对比分析,研究磁场强度与弯曲特性的关系、水母模式拍打幅度、频率与速度的关系,螺旋桨模式步长与圆锥素线角、频率与速度的关系等。在此基础上,通过设计控制信号分别在两种模式下实现在水下的垂直向上、悬停、水平移动等多个动作,并实现简单路径跟踪试验,磁控微型四足水下机器人的仿真与试验为微型机器人的应用提供了新思路。
Due to its small size and light weight,cableless magnetically controlled miniature robots have broad application prospects in the fields of biomedicine and micromanipulation.A cross-fork shaped magnetically controlled miniature soft quadruped robot is designed,and underwater movement is achieved by using either jellyfish mode or propeller mode.Firstly,the dynamic analysis of the jellyfish mode and the propeller mode of the magnetic quadruped robot is carried out respectively.Through simulations and experiments,both modes are compared and analysed for static characteristics and dynamic characteristics,including the relationship between the magnetic field strength and bending characteristics,the relationship between the flapping amplitude,frequency and the velocity in jellyfish mode,the relationship between step size and the cone angle,and between the frequency and the velocity in propeller mode,etc.In both modes,control signals are designed to achieve vertical upward movement,hovering,horizontal movement,and other underwater actions,and simple path tracking tests are realized.The simulation and experiment of the magnetically controlled miniature quadruped underwater robot provide a new idea for its application.
作者
向红标
陈卓
刘霁莹
宋阳
张冕
王收军
XIANG Hongbiao;CHEN Zhuo;LIU Jiying;SONG Yang;ZHANG Mian;WANG Shoujun(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384;Division of Culture and Creativity,Beijing Normal University-Hong Kong Baptist University United International College,Zhuhai 519087)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2023年第11期179-188,共10页
Journal of Mechanical Engineering
基金
天津市自然科学基金(20JCYBJC00790)
国家自然科学基金(52005370)资助项目。
关键词
磁控微型软体机器人
四足水下机器人
水母模式
螺旋桨模式
magnetically controlled miniature soft robot
quadruped underwater robot
jellyfish mode
propeller mode
