鱼形机器人快速转向的运动特性研究  

Kinematic Characters on C-turn Swimming of Fish-like Robot

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,合肥230026

出　　处：《应用力学学报》2008年第2期229-234,共6页Chinese Journal of Applied Mechanics

基　　金：国家自然科学基金重点资助项目(10332040)

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,分析体干中线运动步态和鱼体质心的运动规律。计算了转动惯量、驱动力矩和阻力矩,建立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、转动角位移和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 and simplified physical model of C-turn, kinematic equation of fish-like robot is established. Then the locomotor's gaits and center of mass motion are obtained, the moment of inertia and the driving moment are deduced, and dynamic model of C-turn is established. Simulating the multi-gait of forward-oscillation turn, some effects of the length and curvature of flexible body on fast-turn parameters, including track of center of mass, moment of inertia, driving moment, rotational displacement, maximum angular velocity, are analyzed. And some effective methods for improving fast-turn performances are suggested.

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]