Multidisciplinary Optimization Design Of Bionic Robotic Dolphin

Mankind's exploration of marine resources has never stopped,and the development of underwater robots is also advancing by leaps and bounds.Combining bionics with underwater robots,scholars from various countries have developed a variety of underwater bionic robots.Among them,the most researched is the bionic robotic fish.The increasing demand for ocean exploration has made higher and higher requirements for the bionic robotic fish.This article will take the bionic robotic dolphins as the research object and introduce the multidisciplinary optimization design method into it.Through the multidisciplinary optimization design methods,the underwater bionic robotic dolphins will be further optimized in multiple disciplines and the comprehensive performance of the robotic dolphins will be enhanced.The optimization work of this article will be completed in the multidisciplinary optimization software isight.(1)Disciplinary analysis of the bionic robotic dolphins.First,conduct a disciplinary analysis of the bionic robotic dolphin,and according to its internal structure and functional characteristics,divide the bionic robotic dolphin into a total of six disciplines: shell design,energy design,promotion design,heat dissipation design,control design,and general layout.Subject.In addition,a detailed analysis of the disciplines of shell design,energy design,advancement design,and heat dissipation design is carried out.These four disciplines use mathematical models and finite element simulation to find out the existence of discipline defects,and find corresponding optimization solutions.(2)Optimize research on various disciplines of the bionic robotic dolphin.Single-disciplinary optimization of the shell design discipline,energy design discipline,promotion design discipline,and heat dissipation design discipline in the bionic robotic dolphin.In the optimization process,an approximate model is introduced to improve computational efficiency,and the best approximate model suitable for each discipline is selected.The optimization algorithm selects sequential quadratic programming algorithm,Hawker-Jevis direct search algorithm and multi-island genetic algorithm.These three algorithms correspond to gradient optimization algorithm,direct search algorithm and global optimization algorithm respectively.Through the optimization of the three algorithms,the optimal algorithm suitable for each discipline can be obtained,and the best optimized design parameters can be obtained..(3)Multidisciplinary optimization research on the bionic robotic dolphins.As a whole,the bionic robotic dolphin cannot be studied separately.Multidisciplinary optimization is a method that considers the mutual interference and coupling between disciplines and performs corresponding optimizations to obtain the best goal.Multidisciplinary optimization methods can be divided into single-level optimization methods and two-level optimization methods.This article uses two multidisciplinary optimization methods for the bionic robotic dolphin,one is the more traditional single-stage optimization method,and the multidisciplinary feasible method.One is the two-level optimization method,the collaborative optimization method.At the same time,based on the best optimization results,a robotic dolphin operating condition experiment was performed on the heat dissipation discipline,and the experimental data was obtained to verify the correctness of the optimization results.By comparing the optimization results,it is concluded that the most suitable multidisciplinary optimization method and optimization framework for the biomimetic robotic dolphin is the sequential quadratic programming algorithm combined with the collaborative optimization method.