小型单关节机器鱼设计与游动稳定性分析  

Design and Swimming Stability Analysis of Small Single-Joint Robotic Fish

作　　者：谢智钧 赵灿明 柯鑫 肖扬 武静 宋加雷 XIE Zhijun;ZHAO Canming;KE Xin;XIAO Yang;WU Jing;SONG Jialei(School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China;Guangdong Provincial Key Laboratory of Intelligent Disaster Prevention and Emergency Technologies for Urban Lifeline Engineering,Dongguan 523808,China)

机构地区：[1]东莞理工学院机械工程学院,东莞523808 [2]广东省城市生命线工程智慧防灾与应急技术重点实验室,东莞523808

出　　处：《集成技术》2025年第1期39-49,共11页Journal of Integration Technology

基　　金：东莞市科技特派员项目(20231800500632);广东省自然科学基金面上项目(2023A1515011506);广东省城市生命线工程智慧防灾与应急技术重点实验室项目(2022B1212010016);国家自然科学基金青年科学基金项目(12302296)。

摘　　要：该文基于鲹科鱼的推进模式和鱼鳍模块化设计了一款结构紧凑、成本低廉、高效游动的小型单关节仿生机器鱼,其胸鳍、腹鳍和尾鳍拆装方便。此外,该文对仿生机器鱼的直线推进、静止转弯、鱼头稳定性进行了水下实验,研究了胸鳍和腹鳍对游动性能的影响。在样机游动测试中,该文利用一台高速相机和一面平面镜构建了一个记录机器鱼运动的“双目视觉系统”,可对鱼头最前端和质点上方两处标记点进行追踪,并可记录三维位置信息,这为机器鱼的游动性能、姿态变化和头部稳定性的定量分析提供参考。结果表明:机器鱼的直线推进和转弯性能较好;在稳定性实验中,配备胸鳍和腹鳍的机器鱼在低频游动时,头部稳定性更优,而在高频游动时,未显示出优势,这与自然界中鱼类在高频游动时除尾鳍外的各种鳍紧贴身体的现象一致。The paper designed a compact,low-cost,and efficiently swimming small,single-jointed bionic robotic fish based on the propulsion mode and fin modularity of trevally fish,with easy disassembly of the pectoral,ventral,and caudal fins.In addition,the paper conducted underwater experiments on the straight-line propulsion,static turning,and head stability of the bionic robotic fish,and investigated the effects of the pectoral and ventral fins on the swimming performance.In the swimming test of the prototype,the paper utilizes a high-speed camera and a plane mirror to construct a“binocular vision system”to record the movement of the fish,which can track the most anterior part of the fish head and two marking points above the prime point,and record the three-dimensional position information.This can provide a reference for quantitative analysis of swimming performance,attitude change and head stability performance.The results showed that the straight-line propulsion and turning performance of the robotic fish was better;in the stability experiment,the robotic fish equipped with pectoral and ventral fins had better head stability in low-frequency swimming,while it did not show an advantage in high-frequency swimming,which was consistent with the phenomenon that various fins except the caudal fin stick to the body in high-frequency swimming of fishes in nature.

关 键 词：小型机器鱼 单关节 水下实验 头部稳定性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]