【作者】 刘英想； 刘军考； 陈维山； 夏丹；

【Author】 LIU Ying-xiang LIIU Jun-kao CHEN Wei-shan XIA Dan (Harbin Institute of Technology,Harbin 150001,China)

【机构】 哈尔滨工业大学；

【摘要】 以两关节机器鱼为研究对象,建立坐标系,对机器鱼水动力进行了分析,建立了鱼体水动力和尾鳍水动力的计算模型。考虑鱼体和尾鳍水动力,应用ADAMS软件进行了机器鱼动力学仿真,得到了鱼体摆动特性与机器鱼质量分布、尾部摆动频率的关系,给出了鱼体摆动对尾鳍运动参数的影响。提出了三种抑制鱼体摆动的方法。更多还原

【Abstract】 This paper takes the two-joint robot fish as the research target.The coordinate system is founded.The hydrodynamic analyze of the robot fish is developed, and the models of the hydrodynamic force of the fish body and the tail fin are founded. The dynamic simulation of the robot fish is made with the ADAMS software,and the hydrodynamic forces of the fish body and the tail fin are taken into account in the simulation.The relation between the swing of the fish body and the mass distribution of the robot fish is gained,and the relation between the swing of the fish body and the swing frequency of the tail is gained too.The impact of the swing of the fish body on the kinematic parameters of the tail fin is gained.Three methods to restrain the swing of the fish body are presented.更多还原