三关节尾鳍机器鱼的运动仿真分析  

Motion Simulation Analysis of Three-Joint Caudal Fin Robotic Fish

作　　者：金庆丰 陈坤 袁亮[1,2] JIN Qingfeng;CHEN Kun;YUAN Liang(School of Mechanical Engineering,Xinjiang University,Urumqi Xinjiang 830000,China;College of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830000 [2]北京化工大学信息科学与技术学院,北京100029

出　　处：《机床与液压》2023年第9期45-49,共5页Machine Tool & Hydraulics

基　　金：国家级大学生创新创业训练计划(202010755099)。

摘　　要：基于鲹科鱼的游动模式,建立三关节尾鳍驱动的机器鱼模型,并对三关节尾鳍进行运动仿真,分析其在不同摆动角度、不同摆动频率时的游动速度,探讨质心位置和动能随时间的变化情况,对比各个关节之间是否具有相位差时的游动姿态。结果表明:当机器鱼尾鳍三关节的摆动角度依次从10°增大到25°时,机器鱼的游动速度会随着摆动角度的增加而增大;当机器鱼尾鳍三关节的摆动频率在0.5~3 Hz内变化时,机器鱼的游动速度会先升高后下降;当尾鳍三关节之间具有相位差时,机器鱼尾鳍的游动姿态符合真实鱼的正弦摆动姿态。Based on the swimming mode of carvelidae,a robotic fish model driven by a three-joint tail fin was established,and the movement of the three-joint tail fin was simulated.Its swimming speed at different swing angles and different swing frequencies was analyzed,the changes of the mass center position and kinetic energy over time were explored,the swimming postures whether there was a phase difference between each joint were compared.The results show that when the swing angle of the three joints of the caudal fin of the robotic fish changes from 10°to 25°,the swimming speed of the robotic fish will increase with the increase of the swing angle;when the swing frequency of the three joints of the caudal fin of the robotic fish increases from 0.5 Hz to 3 Hz,the swimming speed of the robotic fish will first increase and then decrease;when there is a phase difference between the three joints of the tail fin,the swimming posture of the caudal fin of the robotic fish conforms to the sinusoidal swing posture.

关 键 词：机器鱼 运动学模型 运动学分析 尾鳍姿态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]