欠驱动柔性胸鳍仿生设计及仿真

Bionic design and simulation of under-actuated flexible pectoral fin

为了进一步提高咽颌运动模式鱼类胸鳍仿生机构的性能,以实际鱼类胸鳍的结构和驱动控制机理为基础,采用欠驱动技术设计了一套新型的柔性胸鳍仿生机构,建立其运动学和动力学模型,并采用Matlab对其性能进行了仿真分析。从仿真结果来看,所建立的新型柔性胸鳍仿生机构及其运动学、动力学模型是合理、有效的。它不但能够较好的模拟胸鳍的各种操纵运动,而且减少了驱动装置的数量,降低了系统的复杂性。从而为深入研究鱼类胸鳍的推进机理和新型水下操纵工具的设计提供了一定的基础和保障。

To improve the performance of bionic mechanism of labriform pectoral fin,based on the structure and control mechanism of real fish pectoral fin, the under-actuated technology was adopted to de- sign a new set of flexible pectoral fin bionic mechanism.hs kinematic and dynamic model was established and Matlab was used to develop the simulation analysis of its performance.The simulation result shows that the established new-style flexible pectoral fin bionic mechanism and its kinematic and dynamic model are reasonable and effective.It can imitate different maneuvering movements of pectoral fin well,and it also re- duces the number of driving devices as well as reduces the complexity of the bionic system.Thus such re- search provides foundation and guarantee for the further study of propulsion mechanism of real pectoral fin and the design of new submerged maneuvering vehicle.