机器鱼胸鳍的仿生研究及动力学仿真

Biomimetic Study and Dynamics Simulation of Robotic Fish Pectoral Fins

随着科学技术的不断发展,近年来以鱼类为仿生对象设计的仿生机器鱼得到了快速的发展。笔者针对鱼类的游动机理、胸鳍运动学原理和MPF(中央鳍/对鳍)推进模式进行分析,设计了二自由度胸鳍推进的仿生机器鱼。目前,已有的一种二自由度舵机结构采用舵机驱动和电磁驱动联合驱动,通过仿生机器鱼胸鳍可以实现拍翼运动、摇翼运动和它们的复合运动。在分析刚性胸鳍的运动模型时,基于DH参数法建立了驱动机构的运动学模型,为仿生机器鱼的基本运动形式提供了理论依据。利用仿真软件Adams对仿生机器鱼进行动力学仿真,得到了鱼体位移、胸鳍角速度和角加速度等图像,验证了仿生驱动机构的合理性,为后续的实验奠定了基础。

With the continuous development of science and technology. In recent years, bionic fish designed for the bionic machine fish has been rapid development. In this paper, the swimming mechanism of the fish and the principle of pectoral fins are analyzed. A bionic robot is designed for the MPF（middle and/or pectoral fin） propulsion model. Designed the structure of fish and pectoral fins. For the pectoral fin drive mechanism, a two-degree-of-freedom steering gear structure is optimized,which is driven by a servo drive and an electromagnetic drive. Bionic fish＇s pectoral fins can be used to achieve wing motion, swing motion and their compound motion. The kinetic simulation of the bionic robot fish was carried out by using the kinetic simulation software Adams, and the images of fish body displacement, pectoral angular velocity, angular acceleration were obtained. The rationality of the bionic driving mechanism was verified, which laid the foundation for the experiment.