仿生机器鱼驱动部件运动仿真分析  

Simulation Analysis of Motion of Biomimetic Robotic Fish Driving Components

作　　者：司晨龙 SI Chen-long(School of Mechanical Engineering,Shangqiu Institute of Technology,Shangqiu 476000,China)

机构地区：[1]商丘工学院机械工程学院,河南商丘476000

出　　处：《山东工业技术》2024年第6期13-19,共7页Journal of Shandong Industrial Technology

基　　金：商丘工学院2024年度校级科研项目(2024JGXM22)。

摘　　要：本文对仿生机器鱼胸鳍和尾鳍的运动状态进行了详细的行ADAMS运动仿真分析。文中分别针对不同尾鳍关节摆动角度和频率、胸鳍摆动角度、胸鳍直线伸长运动对行进速度的影响,以及胸鳍、尾鳍的运动状态对放生机器鱼运动状态的影响,进行了仿真验证。从仿真结果分析:尾鳍的长度、摆动频率和摆动角度越大更有利于机器鱼的行进速度,但摆动频率的影响呈现非线性,较佳的摆动频率为2.5 Hz;而胸鳍的上下摆动角度对行进速度影响不大;胸鳍的直线伸长运动会对机器鱼产生后退运动状态,配合上尾鳍的运动可以实现机器鱼的前进和后退运动,同时胸鳍的直线伸长量越大,内外扩张的频率越快,机器鱼的后退速度也越快。This article provides a detailed ADAMS motion simulation analysis of the motion states of the pectoral and caudal fins of bionic robotic fish.The article conducted simulation verification on the effects of different caudal fin joint swing angles and frequencies,pectoral fin swing angles,and pectoral fin linear extension motion on travel speed,as well as the effects of pectoral and caudal fin motion states on the motion state of released robotic fish.From the simulation results analysis,it can be concluded that a longer tail fin,higher swing frequency,and greater swing angle are more conducive to the speed of the robotic fish.However,the impact of swing frequency is non-linear,with a preferred swing frequency of 2.5Hz;The up and down swing angle of the pectoral fins has little effect on the walking speed;The linear extension motion of the pectoral fins will cause a backward motion state for the robotic fish.Combined with the movement of the tail fins,the forward and backward motion of the robotic fish can be achieved.At the same time,the greater the linear extension of the pectoral fins,the faster the frequency of internal and external expansion,and the faster the backward speed of the robotic fish.

关 键 词：仿生机器鱼 胸鳍 尾鳍 ADAMS 运动仿真 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]