Publication: Üç Boyutlu Hareket Kabiliyetine Sahip Carangiform Türünde Bir Biyomimetik Robot Balığın Tasarımı ve Gerçeklemesi
Loading...
Date
2018-15-01
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Bu proje çalısmasında, üç boyutlu hareket kabiliyetine sahip Carangiform türünde biyomimetikbir robot balık prototipi tasarlanmıs, gerçeklestirilmis ve gerçek bir ortamda analizleriyapılmıstır. Tasarım için aynı türde gerçek balık özellikleri ve hareketleri incelenerek boyutlarve yapı olarak gerçek balıgın fiziksel karakteristiklerini kullanan çok parçalı biyomimetik biryaklasım benimsenmistir. Vücut oranlarının uygun degerleri balıgın yüzüs modlarına vekuyruk salınım sinyallerine göre farklı optimizasyon yöntemleri ile belirlenmistir. Robot balıgınve gerçek ortamın tüm parametreleri yansıtılmaya çalısılarak ve Lagrange yaklasımıkullanılarak robot balıgın üç boyutlu dinamik modeli MATLAB benzetim ortamındagerçeklestirilmistir. Bu parametre degerleri kullanılarak tasarlanan robot balıgın ilk analizleribenzetim ortamında yapılmıstır ve degerlendirilmistir. Bu degerlendirmeler dikkate alınaraktasarım güncellenmistir. 3 Boyutlu yazıcı teknolojisi kullanılarak prototip parçaları üretilmistir.Prototip, sert bir ön gövde, iki eklemli tahrikli kuyruk mekanizması ve esnek tahriksiz kuyrukolmak üzere üç ana bölümden olusturulmustur. Sensörler, elektronik denetim sistemi veagırlık merkezi denetim mekanizması robot balıgın sert ön gövdesi içerisinde bulunmaktadır.Kuyrugu yüksek güçlü birer servo motor ile tahrik edilen iki eklemli kuyruk mekanizması veikinci eklemin sonuna mesnetlenmis esnek silikon kuyruktan olusmaktadır. Birbirine seri birzincir yapısı seklinde baglı olan eklemler ile hareket için gerekli tahrik kuvveti üretilir.Iki farklı akıllı denetim yapısı kullanılmıstır. Birinci denetim yapısı, gerçek bir Lampreybalıgının omurilik sinir hücre yapısını model alarak olusturulan Merkezi Örüntü Üreteci?dir. Buyapı sayesinde robot balıgın ritmik kuyruk hareketleri biyomimetik bir yapı ileolusturulmaktadır. Merkezi Örüntü Üreteci ile olusturulan ritmik kuyruk hareketleri; her birekleminin salınım hızı, salınım genligi ve eklemlerin birbirlerine göre faz farkı olmak üzere üçparametre ile Bulanık Denetleyici tabanlı bir yaklasım kullanılarak denetlenir. Ikinci denetimyapısı, balıgın otonom yüzüs modunda amaç dogrultusunda yönlendirilmesi için hareketkombinasyonunu olusturarak alt denetim birimlerine uygun denetim sinyallerini ileten birBulanık Denetleyicidir.Prototip havuz ortamında üç boyutlu hareket denetimi ile farklı çırpınma frekansları vegenlikleri için analiz edilmistir.
In this project, the prototype of a biomimetic robot fish in the form of Carangiform, whichcan move in three dimensions, has been developed and analyzed in its nature. For design, amulti-part biomimetic approach, which uses the physical characteristics of a real fish as itssize and structure, has been adopted examining the characteristics and the movements ofthe same species real fish. Appropriate body rates have been determined by differentoptimization methods according to swimming modes and tail oscillation signals of the fish.Three-dimensional dynamic model of the robot fish has been performed in the MATLABsimulation environment by trying to reflect all the parameters of the robot fish and its realenvironment, and using the Lagrange approach. The first analysis of the designed robot fish,using these parameter values, has been performed and evaluated in a simulatedenvironment. The design has been updated taking these evaluations into consideration.Prototype parts have been produced using 3D printer technology.The prototype has been made up of three main sections: a rigid front body, a two-jointedtail mechanism to be driven and a fixed flexible tail. Sensors, electronic control system andcenter of gravity control mechanism are located in the rigid front body of the robot. The tailconsists of a two-joint tail mechanism each driven by a high-powered servo motor and aflexible silicone tail fixed at the end of the second joint. The joints connected to each other inthe shape of a series chain structures produce the drive force needed for movement.Two different intelligent control structures have been used. The first one is a CentralPattern Generator created by modeling the spinal nerve cell structure of a real Lamprey fish.With the help of this structure, the rhythmic tail movements of the robot fish are formed by abiomimetic structure. Rhythmic tail movements created with Central Pattern Generator arecontrolled using a Fuzzy Controller-based approach with three parameters: the rate ofoscillation of each joint, the amplitude of the oscillation, and the phase difference of thejoints to each other. The second one is a Fuzzy Controller that transmits the appropriatecontrol signals to the sub-control units by creating a combination of movements for orientingthe fish in the direction of the goal in the autonomous swimming mode.The prototype has been analyzed for three-dimensional motion control in the poolenvironment for different flapping frequencies and amplitudes.Key Words: Robot fish, Carangiform, Multi jointed, Biomimetic, Central PatternGenerator, Fuzzy Controller, Autonomous motion.
In this project, the prototype of a biomimetic robot fish in the form of Carangiform, whichcan move in three dimensions, has been developed and analyzed in its nature. For design, amulti-part biomimetic approach, which uses the physical characteristics of a real fish as itssize and structure, has been adopted examining the characteristics and the movements ofthe same species real fish. Appropriate body rates have been determined by differentoptimization methods according to swimming modes and tail oscillation signals of the fish.Three-dimensional dynamic model of the robot fish has been performed in the MATLABsimulation environment by trying to reflect all the parameters of the robot fish and its realenvironment, and using the Lagrange approach. The first analysis of the designed robot fish,using these parameter values, has been performed and evaluated in a simulatedenvironment. The design has been updated taking these evaluations into consideration.Prototype parts have been produced using 3D printer technology.The prototype has been made up of three main sections: a rigid front body, a two-jointedtail mechanism to be driven and a fixed flexible tail. Sensors, electronic control system andcenter of gravity control mechanism are located in the rigid front body of the robot. The tailconsists of a two-joint tail mechanism each driven by a high-powered servo motor and aflexible silicone tail fixed at the end of the second joint. The joints connected to each other inthe shape of a series chain structures produce the drive force needed for movement.Two different intelligent control structures have been used. The first one is a CentralPattern Generator created by modeling the spinal nerve cell structure of a real Lamprey fish.With the help of this structure, the rhythmic tail movements of the robot fish are formed by abiomimetic structure. Rhythmic tail movements created with Central Pattern Generator arecontrolled using a Fuzzy Controller-based approach with three parameters: the rate ofoscillation of each joint, the amplitude of the oscillation, and the phase difference of thejoints to each other. The second one is a Fuzzy Controller that transmits the appropriatecontrol signals to the sub-control units by creating a combination of movements for orientingthe fish in the direction of the goal in the autonomous swimming mode.The prototype has been analyzed for three-dimensional motion control in the poolenvironment for different flapping frequencies and amplitudes.Key Words: Robot fish, Carangiform, Multi jointed, Biomimetic, Central PatternGenerator, Fuzzy Controller, Autonomous motion.
Description
Keywords
Bilgisayar Bilimleri, Yazılım Mühendisliği, Mühendislik, Elektrik ve Elektronik, Mühendislik, Makine