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鸬鹚起飞阶段的脚蹼力学建模及运动学计算

巩潇 黄晋国 陈泓宇 王田苗 梁建宏

巩潇, 黄晋国, 陈泓宇, 等 . 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. doi: 10.13700/j.bh.1001-5965.2018.0030
引用本文: 巩潇, 黄晋国, 陈泓宇, 等 . 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. doi: 10.13700/j.bh.1001-5965.2018.0030
GONG Xiao, HUANG Jinguo, CHEN Hongyu, et al. Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2096-2105. doi: 10.13700/j.bh.1001-5965.2018.0030(in Chinese)
Citation: GONG Xiao, HUANG Jinguo, CHEN Hongyu, et al. Dynamics modeling and kinematics calculation of webbed-feet during cormorant's take-off[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2096-2105. doi: 10.13700/j.bh.1001-5965.2018.0030(in Chinese)

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
基金项目: 

国家自然科学基金 51475028

国家自然科学基金 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

详细信息
    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

    通讯作者:

    梁建宏, E-mail:dommy_leung@263.net

  • 中图分类号: Q811.213

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

Funds: 

National Natural Science Foundation of China 51475028

National Natural Science Foundation of China 61703023

China Postdoctoral Science Foundation 2016M600892

Beijing Advanced Innovation Center for Intelligent Robots and Systems Open Fund 2016IRS07

Graduate Innovation Practice Fund of Beihang University YCSJ-01-201707

More Information
  • 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。

     

  • 图 1  蜂蝇起飞过程受力[6]

    Figure 1.  Force of fly take-off process[6]

    图 2  水鸟水面起飞

    Figure 2.  Waterfowl taking-off from water surface

    图 3  蛇怪蜥蜴的水面运动[15]

    Figure 3.  Movement of basilisk lizard on water surface[15]

    图 4  蛇怪蜥蜴脚蹼拍击水面流场变化过程[15]

    Figure 4.  Hydrodynamic process of basilisk lizard's webbed-feet fluttering water[15]

    图 5  划水阶段受力

    Figure 5.  Force in stroke stage

    图 6  鸬鹚腿部关节角度及简化模型D-H坐标系

    Figure 6.  Cormorant's leg joint angle and simplified model D-H coordinate system

    图 7  鸬鹚腿部模型机构简图

    Figure 7.  Schematic diagram of cormorant leg model

    图 8  鸬鹚捕捉点标记

    Figure 8.  Tag of cormorant's capture points

    图 9  髋关节和膝关节角度值拟合

    Figure 9.  Fitting of angle of hip joint and knee joint

    图 10  脚蹼中心轨迹

    Figure 10.  Center trajectory of webbed-foot

    图 11  鸬鹚竖直、水平位移-时间曲线及运动轨迹竖直-水平位移曲线

    Figure 11.  Vertical, horizontal displacement-time curve and vertical-horizontal displacement curve of cormorant

    表  1  D-H参数

    Table  1.   D-H parameters

    序号 关节角θ 连杆偏距d 连杆长度a 连杆转角α
    1 π+δ+θ1 0 D2 0
    2 π-θ2 0 D3 0
    注:序号1、2表示髋关节与膝关节的D-H转换关系。
    下载: 导出CSV

    表  2  关节角度测量值表示

    Table  2.   Expression of joint angle measurements

    测量值 横坐标表示 纵坐标表示
    A xA yA
    B xB yB
    C xC yC
    D xD yD
    E xE yE
    θ1
    θ2
    注:dot和norm在MATLAB中分别表示点乘和取模的函数。
    下载: 导出CSV

    表  3  比例尺测量值表示

    Table  3.   Expression of scale measurements

    测量值 横坐标表示 纵坐标表示
    A xA yA
    B xB yB
    k
    下载: 导出CSV

    表  4  竖直方向位移测量值表示

    Table  4.   Expression of vertical displacement measurement

    测量值 横坐标表示 纵坐标表示
    A xA yA
    M xM yM
    N xN yN
    Sv
    下载: 导出CSV

    表  5  水平方向位移测量值表示

    Table  5.   Expression of horizontal displacement measurement

    测量值 横坐标表示 纵坐标表示
    A xA yA
    X1 x1 y1
    X2 x2 y2
    Xn xN yN
    Sh
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-01-12
  • 录用日期:  2018-06-19
  • 刊出日期:  2018-10-20

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