摘要
介绍了一种用于拖曳试验的多关节机器鱼试验平台,用以研究鱼类尾鳍游动机制,提供功耗可测,且能够精确拟合亚鲹科鱼类运动曲线的多关节机器鱼。根据生物学鳕鱼外形观测数据,同时采用伺服电机驱动同步带串联周转轮系传动的方式,使仿生机器鳕鱼在形态学和运动学上最大程度复现自然界鱼类游动方式。介绍了平台的机械结构及运动控制的实现,同时利用虚拟样机技术对机器鱼设计方案进行运动学验证以及动力学分析。结果表明机构设计合理,能够满足设计需求。
This paper gives a introduction to the design of a robotic fish.A servo-drive, four-link, power-measurable, biomimetic robot fish is developed in the aim of studying the mechanism of fish swimming. We apply a new kind of power transmission mechanism using synchronous belts and wheels to construct a set of planetary wheel train. With this transmission mechanism, the motion generated by four DC servo motors is transmitted to the four links which are decoupled from each other. We established a virtual prototype to take some kinematic and dynamic analysis. The result was satisfied.
出处
《机械工程师》
2010年第4期40-43,共4页
Mechanical Engineer
基金
国家杰出青年科学基金支持项目(60525314)
关键词
机器鱼
功耗测量
同步带
虚拟样机
robot fish
power measurement
planetary wheel train
virtual prototype
