鱼形机器人C形转向的运动特性研究  

Research on kinematic characteristics of C-turn swimming of fish-like robots

作　　者：陈宏[1] 竺长安[1] 尹协振[1] 邢晓正[1] 

机构地区：[1]中国科学技术大学工程科学学院,合肥230026

出　　处：《高技术通讯》2007年第4期375-381,共7页Chinese High Technology Letters

基　　金：国家自然科学基金（10332040）资助项目.

摘　　要：基于C形转向的仿生学研究和简化物理模型,建立了鱼形机器人快速转向的运动学方程,分析了体干中线运动步态和鱼体质心的运动规律。计算了鱼形机器人的转动惯量、驱动力矩和阻力矩,建立了C形转向的动力学模型。通过前摆转向的多步态仿真游动实验,解析了鱼体柔性段弧长和相对弯曲度对质心轨迹、转动惯量、力矩、转动角位移及最大转动角速度的影响,提出了有效提高鱼形机器人快速转向性能的方法。Based on the bionic research on C-turn and its simplified physical model, the kinematic equations of a fish-like robot were established, and the gaits of the locomotor and the motion of its center of mass were analyzed. Its moment of inertia and driving moment were deduced, and the dynamic model of C-turn was founded. Through the multi-gait simulations of forward-oscillation turn, some effects of the length and the curvature of the flexible fish body on the fast-turn parameters, including track of center of mass, moment of inertia, driving moment, rotational displacement, maximum angular velocity, were analyzed, and some effective methods of improving the robot＇ s fast-turn performance were brought forward.

关 键 词：C形转向 鱼形机器人 运动学方程 动力学模型 快速转向性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]