仿生机器鱼巡游性能分析与实验

Cruising performance analysis and experiments of biomimetic robotic fish

以鱼体运动行波方程为动力学基础,参照鱼体尾部运动函数方程设计了"BLRF--I"系列仿鲹科机器鱼.在该系列机器鱼中,采用模块化设计结构,可以方便地更改尾部驱动舵机的数量,形成仅有驱动舵机数量不同、其他机制完全相同的单关节、两关节和三关节仿生机器鱼.对"BLRF--I"系列机器鱼的巡游速度与最小转弯半径进行实验分析.结果表明,"BLRF--I"系列机器鱼尾部驱动舵机数量的增加可以有效地提高巡游速度,最小转弯半径在舵机数量为2时达到最小.进而论证了仿生机器鱼关节数目对机器鱼游动性能的影响,并提出了仿生机器鱼关节数目和巡游速度的关系方程.

Taking the traveling wave equation of the fish body as a dynamic basis and according to the motion function equation of the fish tail, carangiform robotic fish named ＂BLRF-I＂ series were designed. Because of modular design in the robotic fish, the number of tail driving motors can be expediently changed and the difference among the single-link, two-link and three-link biomimetic robotic fish is only the number of tail driving motors. The cruising speed and minimum turning radius experimental results of the robotic fish show that the cruising speed grows with the number of tail driving motors increasing and the minimum turning radius reaches its minimum value while the number of tail driving motors is two, demonstrating that the number of joints has effect on the cruising performance of the robotic fish. The relation equation between the number of joints and the swimming velocity was proposed.