四关节仿生机器鱼的运动曲线分析  

Analysis of Movement Curve of the Four-Joint Robotic Fish

作　　者：林海[1] 薛志斌[1] 张倩[1] 

机构地区：[1]青海大学,青海西宁810001

出　　处：《机械研究与应用》2015年第4期97-98,101,共3页Mechanical Research & Application

摘　　要：以四关节仿生机器鱼为研究对象,根据鱼体波运动曲线方程,推导出仿生机器鱼四个关节转动的数学模型。通过设置不同的振幅系数和偏振系数,运用MATLAB仿真软件,得到不同的运动曲线。从而为四关节仿生机器鱼的动力学建模提供理论基础。Focusing on the four-joint robotic fish, based on the fish body wave motion curve equation, a mathematical model of four-joint rotation of robotic fish is deduced in this paper. By setting different parameters of amplitude coefficients and polarization coefficients, some different motion curves are obtained by using the simulation software MATLAB. Thus it could provide theoretical basis for dynamics modeling of four-joint robotic fish.

关 键 词：仿生机器鱼 运动曲线 振幅系数 偏振系数 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]