多关节鱼形机器人的动态特性的建模与仿真研究

Research on the dynamics model and simulation of the multi-joint fish-like robot

本文以JamesLightHill的鱼类的细长体理论为基础,利用能量守恒、动量定理和波动理论来分析计算仿生机器鱼在运动中的受力。建立了转角、相位差、转动频率等重要参数的动态模型,在对模型进行仿真的基础上,对仿生机器鱼的效率进行了数值模拟和估算,分析了影响效率的一些因素,揭示了鱼类运动的高效的机理,为进一步展开对仿生机器鱼的研究提供了一个思路。

On the basis of the slender hody theory, the force acting on the fish-lick robot is analysed through the conservation of energy, momentum theory and wave theory. The model of the kinetic parameters of the fish-lick robot such as turning angle, phase difference and turning frequency is also established. Through the model simulation, the efficiency of the fish-lick robot is calculated and the fish's high efficiency is explained. All of this provides a new idea for the research on the fish-lick robot.