摘要
为实现仿鲹科机器鱼的真实运动模拟,通过对一种仿鲹科机器鱼进行方案设计、三维实体建模和ADAMS运动仿真,实现仿鲹科机器鱼的仿真模拟;设置多舵机串联驱动机器鱼多种驱动模式,进行鲹科鱼类的推进模式及其动力学分析;并通过对比各个游动模式下的机器鱼身体波波幅包络曲线,获得机器鱼最贴合实际的舵机驱动方式。本研究为仿鲹科机器鱼的设计和优化提供参考依据。
To realize the real motion simulation of biomimetic carangidae robot fish,in this paper,firstly,simulation of biomimetic carangidae robot fish is carried out,which by the scheme design,three-dimensional solid modeling and ADAMS motion simulation;secondly,by setting up multiple driving modes of robot-fish driven by multi-actuator series,the propulsion model and dynamic analysis of biomimetic carangidae robot fish were carried out;finally,by comparing the envelope curve of the robot fish’s body wave in each swimming mode,the most fitting practical servo drive mode of robot fish is obtained.The research of this paper helps to provide references for the design and optimization of biomimetic carangidae robot fish.
作者
张祺
姚志刚
陈奇
刘蕊
贾帅
陈俊杨
ZHANG Qi;YAO Zhigang;CHEN Qi;LIU Rui;JIA Shuai;CHEN Junyang(1.School of Automobile and Traffic Engineering, Hefei University of Technology, Hefei 230009, China;School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China)
出处
《机械》
2019年第1期68-72,共5页
Machinery
基金
国家级大学生创新创业训练资助项目(201610359011)
关键词
仿鲹科机器鱼
舵机驱动
ADAMS
动力学分析
包络线
biomimetic carangidae robot fish
actuator drive
ADAMS
dynamic analysis
envelope line
