面向跃水运动的仿生机器海豚的基础研究

The fundamental locomotion principle, control mechanisms and biological inspiration of dolphin leaping are frontier topics to be explored in depth. Inspired by the biological fact that dolphins rely on the coordination of multiple control surfaces and can further extract or release energy from shredded trails at the right time for efficient yet flexible swimming, this proposal aims at the bio-inspired mechanism design and locomotion control of a leaping-oriented, body-caudal-fin-flippers propelled robotic dolphin. The main research contents are listed as follows. First, the speed and maneuverability-related characteristic parameters underlying dolphin leaping will be extracted and their relationships will then be identified. Second, a simplified propulsive model for the body-caudal-fin-flippers coordinated propulsion will be established, and the basic mechanical principles of coordinated propulsion with multiple control surfaces will be illustrated. Third, a novel adjustable Scotch yoke mechanism and multi-DOF accessory fin mechanisms as well as their optimization will be tackled as a whole, followed by the development of a new robotic dolphin prototype. At last, an integrative leaping control method based on the multiple control surfaces coordination will be proposed so as to form a control architecture containing speediness, maneuverability, and operability. Therefore, the bottleneck of leaping motion for robotic dolphin will ultimately be broken and a full leaping will be achieved. The scientific significance of this proposal is to offer a new theoretical basis and technical approach to improve the speed and maneuverability of biomimetic AUVs via biomimetic and robotic technologies applied to exploring leaping mechanism in dolphins.

海豚跃水运动背后蕴含的运动机理、控制机制及仿生启示是有待深入探索的前沿课题。受“海豚依靠多个控制面的协调，能在恰当时机从尾迹区提取或释放能量以实现高效且灵活的推进”这一生物事实的启发，本项目针对一种面向跃水运动的身体－尾叶－鳍肢协同推进的机器海豚的机构设计和控制问题开展研究。主要研究内容包括：探讨跃水运动中与速度和机动性相关的特征参量并阐明参量间的相互关系；建立海豚身体－尾叶－鳍肢协同推进的简化模型，初步揭示多控制面协同推进的力学原理；研究新型可调幅背腹式运动机构和多自由度附鳍机构的一体化设计方法及优化，研制开发原型样机；在此基础上，构建集快速性、机动性、操纵性于一体的控制框架，给出多控制面协同推进的跃水控制方法，进而突破跃水运动的技术瓶颈，实现机器海豚完全跃出水面。本项目的科学意义在于通过仿生和机器人技术来探索海豚的跃水机制，为提高水下航行器的速度和机动性提供重要的理论和技术支撑。

海豚跃水运动背后蕴含的运动机理、控制机制及仿生启示是有待深入探索的前沿课题。受“海豚依靠多个控制面的协调，能在恰当时机从尾迹区提取或释放能量以实现高效且灵活的推进”这一生物事实的启发，本项目针对一种面向跃水运动的身体－尾叶－鳍肢协同推进的机器海豚的机构设计和控制问题开展研究。主要研究内容包括：探讨跃水运动中与速度和机动性相关的特征参量并阐明参量间的相互关系；建立海豚身体－尾叶－鳍肢协同推进的简化模型，初步揭示多控制面协同推进的力学原理；研究新型可调幅背腹式运动机构和多自由度附鳍机构的一体化设计方法及优化，研制开发原型样机；在此基础上，构建集快速性、机动性、操纵性于一体的控制框架，给出多控制面协同推进的跃水控制方法，进而突破跃水运动的技术瓶颈，完整复现了“出水－空中滑行－再入水”这一生物海豚的跃水过程。本项目的科学意义在于通过仿生和机器人技术来探索海豚的跃水机制，为提高水下航行器的速度和机动性提供重要的理论和技术支撑。

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