两栖仿生机器鱼机构设计及初步运动仿真

Amphibious robofish body motion simulation and preliminary design

对国内外机器鱼的研究现状及研究成果进行分析,设计出四关节结构且可两栖行走的仿生机器鱼,对工作原理、关节结构设计及两栖行走装置设计详细介绍,简述其可完成的动作,依据机械控制的基础理论建立简单串联模型,并给出机器鱼两个运动方案,进行运动学的初步仿真,最终总结两栖仿生机器鱼的运动仿真结果。

In this paper, the machine at home and abroad on the status of fish and its research are analyzed, then the four joints structure of simulation robot fish with amphibious waling is designed. The principle of work, the design of joint structure and the equipment with amphibious walking are also introduced in detail. The action achieved by the machine is summarized. A simple series model on the basis of machine control theory is built, and two kinematic precept is also given to simulate. At last, the results of motion simulation is summarized.