基于Matlab的机器海豚直游动力学仿真  

Dynamic Simulation of Robot Dolphin Direct Swimming Based on MATLAB

作　　者：王全吉 巩伟杰 WANG Quan-ji;GONG Wei-jie(College of Mechatronics and Control Engineering Shenzhen University,Shenzhen 518061 China)

机构地区：[1]深圳大学机电与控制工程学院,广东深圳518061

出　　处：《自动化技术与应用》2020年第10期97-102,共6页Techniques of Automation and Applications

摘　　要：针对仿生机器海豚胸鳍/尾鳍机构,根据细长体理论和新结构建立了机器海豚尾鳍/胸鳍的运动学模型,在摇翼与复合运动模式下,推导了动力学方程;通过MATLAB仿真软件对运动学和动力学进行仿真,推算出速度和推进力数值;分析了相关的运动学参数对仿生机器海豚游速产生的影响,为提高整体游速和推进力的结构方案改进提供技术指导。According to slender body theory and new structure,the kinematics model of dolphin's pectoral fin/pectoral fin is established for the bionic machine dolphin pectoral fin mechanism,and the kinematics equation is deduced under the mode of rocking wing and compound motion.The kinematics and dynamics are simulated by MATLAB simulation software,and the numerical values of velocity and propulsion force are calculated.The influence of dolphin's swimming speed can provide technical guidance for improving the overall swimming speed and propulsion force.

关 键 词：机器海豚 胸鳍 尾鳍 MATLAB仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]