鸬鹚起飞阶段的脚蹼力学建模及运动学计算

doi:10.13700/j.bh.1001-5965.2018.0030

北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (10): 2096-2105.doi: 10.13700/j.bh.1001-5965.2018.0030

鸬鹚起飞阶段的脚蹼力学建模及运动学计算

巩潇¹, 黄晋国^2,3, 陈泓宇², 王田苗², 梁建宏²

1. 工业和信息化部计算机与微电子发展研究中心机器人测试实验室, 北京 100048;
2. 北京航空航天大学机械工程及自动化学院, 北京 100083;
3. 北京航空航天大学高等理工学院, 北京 100083

收稿日期:2018-01-12 修回日期:2018-06-19 出版日期:2018-10-20 发布日期:2018-10-29
通讯作者: 梁建宏,E-mail:dommy_leung@263.net E-mail:dommy_leung@263.net
作者简介:巩潇,女,硕士,工业和信息化部计算机与微电子发展研究中心(中国软件评测中心)机器人测试实验室主任。主要研究方向:工业机器人、服务机器人、特种机器人的功能性能测试技术、功能安全和信息安全测试技术;黄晋国,男,博士研究生。主要研究方向:仿生跨界行为、海空航行器;王田苗,男,博士,教授,博士生导师,教育部长江学者。主要研究方向:先进机器人技术、医用机器人、仿生机器人;梁建宏,男,博士,副教授,硕士生导师。主要研究方向:仿生水下机器人、跨海空飞行器、微小型无人机。
基金资助:
国家自然科学基金（51475028，61703023）；中国博士后科学基金（2016M600892）；智能机器人与系统高精尖创新中心开放基金（2016IRS07）；北京航空航天大学研究生创新实践基金（YCSJ-01-201707）

Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off

GONG Xiao¹, HUANG Jinguo^2,3, CHEN Hongyu², WANG Tianmiao², LIANG Jianhong²

1. Laboratory of Robotics, Research Center for Computer and Microelectronics, Ministry of Industry and Information Technology, Beijing 100048, China;
2. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083;
3. Shenyuan Honors College, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Received:2018-01-12 Revised:2018-06-19 Online:2018-10-20 Published:2018-10-29

摘要/Abstract

摘要： 鸬鹚在水面起飞的过程中，进行周期性扑翼运动的同时，其脚蹼也不断进行周期性拍水运动。为探究脚蹼周期性拍击水面对鸬鹚水面起飞的贡献以及定量计算每个拍水周期中脚蹼力的大小，探讨了鸬鹚起飞过程中后肢力量的贡献以及需要腿部力量辅助的原因；同时，比较自然界生物在水面行走或奔跑方式的异同，从而研究鸬鹚等水栖鸟类在水面上连续拍水的机理。通过蛇怪蜥蜴和鸬鹚脚蹼水上运动模式和机理的对比，类比研究脚蹼对水面冲击而产生支持身体冲量的大小与脚蹼在拍水时与水接触变化的过程；定义鸬鹚腿部自由度，建立鸬鹚起飞过程脚蹼周期性拍水运动的运动学模型，分析腿部关节角度与脚蹼中心坐标的D-H矩阵，并研究关节角速度与脚蹼中心速度的雅可比矩阵，通过现有的视频分析验证模型可靠性，并对鸬鹚脚掌运动以及水平、竖直方向的运动做了基本计算。

关键词: 鸬鹚水面起飞, 脚蹼, 力学建模, 运动学模型, 运动学计算

Abstract: The process of taking off from the surface of water for cormorant is a combination of flapping its wings and its webbed-feet periodically. In order to look into the contribution of the latter that helps in taking off and to compute each period in fixed quantity of the amount of force in each flapping action, this article explores the contribution of hind limb power to the process of taking off as well as the reasons of the need of leg strength for assistance. At the same time, through introducing various types of water walking living creatures and looking at the differences and similarities in the ways that nature creatures walk or run on the water surface, the continuous flapping mechanism of cormorant and other aquatic birds on water surface is studied. Moreover, by comparing the different modes and mechanism of water movement of basilisk lizard and cormorant, an analogy is made to study the impulse generated by the webbed-feet which sustains the body as well as the changes of webbed-feet beating the water. With the DOF of cormorant's webbed-feet defined, the periodic flapping kinematics model during cormorant taking off is established. The D-H matrix of the leg joint angle and the webbed-feet center coordinates, as well as the Jacobian matrix of the joint angular velocity and the webbed-feet center speed are analyzed. Through the existing video analysis, the reliability of the model is verified, and the basic calculation is made for the movement of the cormorant's webbed-feet and the horizontal and vertical direction.

Key words: cormorant's take-off from surface of water, webbed-feet, dynamics modeling, kinematics model, kinematics calculation

中图分类号:

Q811.213

巩潇, 黄晋国, 陈泓宇, 王田苗, 梁建宏. 鸬鹚起飞阶段的脚蹼力学建模及运动学计算[J]. 北京航空航天大学学报, 2018, 44(10): 2096-2105.

GONG Xiao, HUANG Jinguo, CHEN Hongyu, WANG Tianmiao, LIANG Jianhong. Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2018, 44(10): 2096-2105.

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鸬鹚起飞阶段的脚蹼力学建模及运动学计算

Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off

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