基于ADAMS的多鳍机器鱼驱动部件协调运动仿真分析

Simulation and Analysis for Multi Fin Robo-fish Driver Unit Coordinated Movement Based on ADAMS

为制定多鳍机器鱼各驱动部件的运动控制规则,提高机器鱼行进速度,应用ADAMS建立多鳍机器鱼运动学仿真模型,分析机器鱼尾部摆动角度、摆动频率对机器鱼行进速度的影响规律,确定了尾部最佳摆动频率为1.2 Hz;分析机器鱼胸鳍、背鳍、腹鳍及尾部的相对运动方向对机器鱼行进速度的影响规律,确定了机器鱼各驱动部件间的协调运动规则。

In order to make motion control rules for multi fin robo-fish driver unit, and to improve the robo-fish traveling speed, the multi fin robo-fish kinematics simulation model was established with ADAMS, the influences of robo-fish fishtail department swing angle and swing frequency to the robo-fish traveling speed were analyzed. The determined fishtail best swing frequency was 1.2 Hz. The influences of the relative motion directions of pectoral fin, dorsal fin, ventral fin and fishtail to the robo-fish traveling speed were analyzed. The coordinated movement rules for the robo-fish each driver unit were determined.