三关节机器鱼的尾部动力学建模与仿真

Tail fin dynamic mode building and simulation of three-joint robotic fish

机器鱼技术为研究高效、高机动性和低噪声的水下运载器提供了新的思路,是近几年水下机器人领域的研究热点之一。以三关节机器鱼为研究对象,建立了尾部动力学模型,并进行了仿真,由该模型出发对机器鱼的动力学进行了研究,分析了机器鱼速度与频率等的关系。该方法实现的运动仿真与真实的鱼的运动基本一致,速度随着摆动频率的降低而减小,随着相位差的减小而增加,摆幅对速度的影响很大。

The robotic fish technology, which has become a hotspot in the field of underwater robot, provides a new thought for studying the underwater vehicles with high efficiency, high maneuverability and low noise. Focusing on the three-joint robotic fish, the tail fin dynamic mode was built and simulated. And the dynamics of the robotic fish and the relation between its acceleration and frequency were studied. The simulating movement is consistent with the real fish＇s motion. The speed drops when moving frequency decreases, the speed increases when phase difference reduces, and the amplitude affects the speed greatly.