摘要
以箱鲀为仿生对象,设计了一种两侧胸鳍对称布置,单侧2自由度胸鳍能够实现摇翼运动、前后拍翼运动以及两者复合运动的仿生机器鱼,建立了其利用"划水模式"推进的水动力学模型,通过数值方法给出了胸鳍摆动周期、幅值以及初始角的变化与直线游动速度之间的关系,实验结果验证了其有效性.在此基础上,确定了所设计仿生机器鱼采用"划水模式"推进时的直线游动模态.研究结果表明,胸鳍"划水模式"推进的仿生机器鱼具有较高的效率和运动速度.
A novel biomimetic robotic Boxfish is designed in which pectoral fins are symmetrically assembled on both sides and each one with 2 degrees of freedom can achieve flapping, swaying and the composite motion of them, separately.The hydrodynamic model is established for the robotic fish to cruise by rowing-mode. Through numerical simulation, we analyze and obtain the relations between the swimming speed and the values of the movement parameters including period of motion, swaying amplitude and original phase, etc. Its validity is illustrated by the experimental results. On this basis, the straight swimming mode of the robotic fish with rowing-mode is determined. The presented results shows that the biomimetic robotic fish with rowing-mode can swim with high efficiency and speed.
出处
《机器人》
EI
CSCD
北大核心
2016年第1期82-90,共9页
Robot
基金
国家自然科学基金(61064008)
教育部科学技术研究重点项目(211185)
甘肃省自然科学基金(1208RJZA166)
关键词
仿生机器鱼
2自由度胸鳍
划水模式推进
机构设计
水动力学分析
biomimetic robotic fish
pectoral fin with two degrees of freedom
rowing-mode propulsion
mechanism design
hydrodynamics analysis
