多控制面机器鱼结构设计及尾鳍动力学数学模型构建  

Dynamic Math Mode Building of Tail Fin and Structure Design of Control Surface Bionic Robotic-fish

作　　者：王卫兵[1] 杨红伟[2] 晁贯良[1] 牛健文[1] 

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832003 [2]石河子大学师范学院,新疆石河子832003

出　　处：《机床与液压》2012年第7期11-13,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(60865004)

摘　　要：设计了多控制面仿生机器鱼结构,包括尾鳍、胸鳍、腹鳍、背鳍的联合推进。根据其结构特点,对机器鱼推进系统的各关节进行控制从而实现仿生机器鱼前进的平衡性,主要利用二维波动板理论和Lagrange方程建立了四关节仿生机器鱼尾鳍的动力学数学模型,该模型建立了仿生机器鱼各个运动参数之间的关系。The structure of control surface biomimetic robotic-fish was designed,which included tail fin,pectoral fin,pelvic fin,and pinna dorsalis combining propulsion.On the basis of the characteristic of structure,the swimming balance of bionic robotic-fish was achieved by controlling the each part of propulsion system.The dynamic math model of tail fin of four-joint robotic-fish was built using the theory of planar wave plank and Lagrange equation.The academic base for the relation of the kinetic parameters of robotic-fish is prepared by the model.

关 键 词：仿生机器鱼 数学模型 多控制面 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]