仿鱼机器人C形起动的动力学分析

Dynamic analysis on c-start swimming of fish-like robot

为提高螺旋桨式水下机器人的起动性能,以草食性鱼类体干摆动模式的水下推进方式作为高机动仿鱼机器人推进器的设计原型.由鲫鱼C形起动高速摄影图像的运动分析,推导出仿鱼机器人快速起动的体干运动方程.计算横向摆动流体举力、尾涡反作用力、边界层摩擦阻力和纵向附加质量力,建立C形起动的动力学模型.进行仿鱼机器人体干曲线波,以及多步态快速起动的运动学和动力学参数的仿真计算和优化设计,由数值计算和分析得出的结论和鱼类游动规律基本吻合,为研制具有快速起动性能的水下机器人提供理论基础和设计思路.

For improving start-up performance of propeller-type underwater robot, the oscillating mode of her- bivorous fish was designed as a prototype of fish-like robot with high maneuverability. Following the motion analysis with high-speed photograph of crucian＇ s C-start, kinematic equations of fish-like robot C-start were es- tablished. Through calculation of the lateral oscillation of fish body, the tailing vortex, the boundary layer fric- tion and the added mass at lengthwise direction, a dynamic model was acquired. Laws of motion of body centerline and multi-gait simulating experiments displayed kinematic and dynamic parameters of fast-start performance, and optimum designs of fish-like robot for higher acceleration. The educed conclusions from numerical simulation accord with swimming rules of fish basically, which provides the theoretical foundation and feasible design scheme for developing underwater robot with fast-start performance.