机器海豚三关节尾部摆动波光滑逼近与分析  

Simulation Analysis and Smooth Approximation of Oscillation Wave Based on Three-Joint Tail of Robotic Dolphin

作　　者：李亮亮 薛志斌 LI Liang-liang;XUE Zhi-bin(College of Mechanical Engineering,Qinghai University,Xining Qinghai 810016,China;College of Chemical Engineering,Qinghai University,Xining Qinghai 810016,China)

机构地区：[1]青海大学机械工程学院,青海西宁810016 [2]青海大学化工学院,青海西宁810016

出　　处：《计算机仿真》2020年第9期281-286,共6页Computer Simulation

摘　　要：针对目前机器海豚摆动波逼近精度和光滑度很难实现高精度逼近问题,提出建立机器海豚摆动波控制参数、电机转角和位姿变换三者之间的关系来构造出摆动波光滑逼近机理模型。构造机器海豚尾部三维建模,同时建立机器海豚三关节尾部结构动力学模型,用模糊逼近算法分析理想和带干扰两种状态下光滑逼近,利用仿真软件得到较小的逼近误差,进一步验证了逼近模型的有效性。Aiming at the problem that the approximation accuracy and smoothness of machine dolphin oscillation wave are difficult to achieve high precision approximation,the relationship among control parameters of machine dol⁃phin oscillation wave,motor rotation angle and pose transformation is proposed to construct the smooth approximation mechanism model of machine dolphin oscillation wave.A three-dimensional model of the dolphin tail was construc⁃ted,and a three-joint structural dynamic model of the dolphin tail was established.The fuzzy approximation algorithm was used to analyze the smooth approximation under ideal and disturbed conditions.The simulation software was used to obtain smaller approximation error,which further verified the validity of the approximation model.

关 键 词：机器海豚 摆动波 光滑逼近 机理建模 仿真分析 

分 类 号：N945.12[自然科学总论—系统科学]