轨迹可控的微型水母机器人研制

doi:10.16183/j.cnki.jsjtu.2023.135

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (8): 1240-1248.doi: 10.16183/j.cnki.jsjtu.2023.135

轨迹可控的微型水母机器人研制

王琦¹^,³, 李绿洲², 董旭², 袁宁一³, 丁建宁²^,³()

1.常州大学机械与轨道交通学院,江苏常州 213164
2.扬州大学机械工程学院扬州大学扬州碳中和科技创新中心,江苏扬州 225127
3.常州大学江苏省光伏科学与工程协同创新中心,江苏常州 213164

收稿日期:2023-04-17 修回日期:2023-06-26 接受日期:2023-07-31 出版日期:2024-08-28 发布日期:2024-08-27
通讯作者: 丁建宁,教授,博士生导师,电话(Tel.):0514-87978311;E-mail:dingjn@yzu.edu.cn.
作者简介:王琦(1988-),讲师,现主要从事微型机器人研究.
基金资助:
“共融机器人基础理论与关键技术研究”重大研究计划集成项目(92248301);江苏省自然科学基金资助项目(BK20200984)

Development of a Small Jellyfish Robot with Controllable Trajectory

WANG Qi¹^,³, LI Lüzhou², DONG Xu², YUAN Ningyi³, DING Jianning²^,³()

1. School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou 213164, Jiangsu, China
2. Yangzhou Technology Innovation Research Center for Carbon Neutrality of Yangzhou University, School of Mechanical Engineering, Yangzhou University, Yangzhou 225127, Jiangsu, China
3. Jiangsu Collaborative Innovation Centre for Photovoltaic Science and Engineering, Changzhou University, Changzhou 213164, Jiangsu, China

Received:2023-04-17 Revised:2023-06-26 Accepted:2023-07-31 Online:2024-08-28 Published:2024-08-27

摘要/Abstract

摘要：

为解决微型机器人在较小机身尺寸下实现高效轨迹控制的难题,设计并研制了微型仿水母机器人JRT,其由气室、重心调整机构和仿水母推进器三部分组成,尺寸仅为⌀6.8 cm×5.3 cm,可通过重心调整机构和仿水母推进器协同控制有效实现水下轨迹可控.水下实验验证了机器人JRT沿竖直方向游泳和悬停、水平定向游泳以及水平弹射功能,并通过对机器人JRT沿竖直方向和水平方向游泳过程中的力平衡关系和运动状态数据分析提出了轨迹控制方案,测得水平定向游泳的速度可达到1.7 cm/s,轨迹偏差为0~3.4 cm,展现了微型仿水母机器人JRT较好的轨迹控制能力,可见其在水下资源勘查、环境监测等领域的应用潜力.

关键词: 仿生机器人, 微型水母机器人, 电磁驱动, 轨迹控制, 运动分析, 重心调控

Abstract:

In order to solve the problem of efficient trajectory control of centimeter-scale robots with small size, a small jellyfish robot (JRT) is designed and developed, which is composed of an air chamber, a center of gravity adjustment device and a jellyfish-inspired thruster with a size of only ⌀6.8 cm × 5.3 cm. Its trajectory can be effectively controlled underwater through the coordination of the center of gravity adjustment device and jellyfish-inspired thruster. Underwater experiments verify the function of JRT swimming and hovering in the vertical direction, horizontal directional swimming, and horizontal ejection. By analyzing the force balance relationship and motion state data of JRT swimming in the vertical and horizontal directions, a trajectory control scheme is proposed. The speed of horizontal directional swimming can reach 1.7 cm/s, and the trajectory deviation is 0—3.4 cm, which shows that the JRT has a good trajectory control ability and is expected to be applied in underwater resource exploration, environmental monitoring, and other fields.

Key words: bionic robot, small jellyfish robot, electromagnetic drive, trajectory control, motion analysis, center of gravity regulation

中图分类号:

TP242

王琦, 李绿洲, 董旭, 袁宁一, 丁建宁. 轨迹可控的微型水母机器人研制[J]. 上海交通大学学报, 2024, 58(8): 1240-1248.

WANG Qi, LI Lüzhou, DONG Xu, YUAN Ningyi, DING Jianning. Development of a Small Jellyfish Robot with Controllable Trajectory[J]. Journal of Shanghai Jiao Tong University, 2024, 58(8): 1240-1248.

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参考文献 13

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T_i/s	P_i/cm	u_H_i/(cm·s^-1)	d_i/cm
0.0	0.0	—	—
8.0	4.1	0.51	2.0
11.0	6.1	0.67	2.6
15.0	8.0	0.98	3.0
17.0	10.2	1.10	3.4
25.0	19.8	1.20	2.0

轨迹可控的微型水母机器人研制

Development of a Small Jellyfish Robot with Controllable Trajectory

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