Rollover movement control method of multi-joint dolphin robot

A motion control, multi-joint technology, applied in the field of bionics, can solve problems such as three-dimensional motion control, and achieve the effect of precise and flexible control

Active Publication Date: 2012-06-13
北京维盛视通科技有限公司
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  • Summary
  • Abstract
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a rolling motion control method of a multi-joint robot dolphin to solve the three-dimensional motion control problem of a bionic robot dolphin

Method used

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  • Rollover movement control method of multi-joint dolphin robot
  • Rollover movement control method of multi-joint dolphin robot
  • Rollover movement control method of multi-joint dolphin robot

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Embodiment Construction

[0011] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0012] 1. The mechanical structure of the bionic robot dolphin

[0013] figure 1 is a schematic diagram of the structure of the bionic robot dolphin, such as figure 1 As shown, the bionic robot dolphin includes a rigid front body 2, a flexible rear body 6 with multiple pitch joints, a caudal fin 14, a pectoral fin 10, a dorsal fin 3, a control circuit board 9, a gyroscope 11, a pressure sensor 12, an infrared detection Device 8, moving slider 1, counterweight copper block 4, yaw joint 5, pitch joint 7, tail handle 13.

[0014] In the bionic robot dolphin, the front body 2 is connected to the flexible rear body 6 with multiple joints; the inside of the front body 2 is a hollow structure, and the interior is equipped with...

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Abstract

The invention discloses a rollover movement control method of a multi-joint dolphin robot. A control method and achieving steps of front rollover movements and rear rollover movements of the dolphin robot are provided by performing theoretical analysis and system research on the front rollover movements and the rear rollover movements of the dolphin robot and combining a propulsion mechanism of movements of a dolphin. Due to the fact that the front rollover movements and the rear rollover movements of the dolphin robot belong to pitching movements of the dolphin, first the pitching movements of the dolphin are analyzed and divided into a bending stage and an stretching stage, the bending stage and the stretching stage are respectively analyzed, a calculation formula of a joint turning angle and a movement path of joints during the pitching movements are provided, and movements of pitching joints of the dolphin robot are controlled. The rollover movement control method of the multi-joint dolphin robot can accurately control a pitch angle of the dolphin robot during the movements, and achieves accuracy of pitching movement control of the dolphin robot.

Description

technical field [0001] The invention relates to the field of bionics, in particular to a method for controlling the rolling motion of a multi-joint robot dolphin. Background technique [0002] Dolphins, as marine mammals, possess amazing swimming techniques and drag-reducing abilities. When dolphins swim, relying on the up and down swing of the tail peduncle and tail fin and the cooperation of the pectoral fins, the instantaneous swimming speed can reach as high as 11m / s. When a dolphin changes its speed and direction, its skin will wrinkle to suppress the turbulent flow, thereby greatly reducing the resistance of the water and making the average propulsion efficiency of the dolphin between 0.75 and 0.90. In addition, the dolphin has super steering maneuverability and flexibility, its steering angle can reach 561.6° / s, and the turning radius can even be less than 0.2 body length. In view of the good mobility, flexibility and efficiency of dolphins, it has good application ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H1/36
Inventor 喻俊志苏宗帅吴正兴谭民
Owner 北京维盛视通科技有限公司
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