仿生机器鱼胸鳍结构优化分析

Analysis of Optimization of the Pectoral Fin Structure of Biomimetic Robotic Fish

针对已有的仿生机器鱼样机,提出了胸鳍气动柔性关节的模型,通过ADAMS软件仿真分析以及实验验证,确定了仿生鱼鳍具有扩张、上浮和下潜功能,能够模拟真正鱼类鱼鳍的游动姿态。搭建实验台,对三种弯曲关节进行结构优化对比实验。研究证明:通过控制通入弯曲关节AB气管内的气体压力值,可以实现胸鳍的扩张、上浮和下潜的运动工况。同时,在有效长度相同、通入气压相同的情况下,凸台约束弯曲关节相较于其他弯曲关节有更大的伸长量和端面转角,在通入气压值0.35Mpa时,凸台约束关节伸长量达到18.39mm,凸台约束关节端面转角达到70.6°。因此,选用凸台约束弯曲关节作为胸鳍运动的连接和驱动元件。

A model of the pneumatic flexible joint of the pectoral fin is proposed for the existing biomimetic robotic fish prototype.Through simulation analysis and experimental verification using ADAMS software,it is determined that the biomimetic fish fin has the functions of expansion,buoyancy,and diving;and it can simulate the swimming posture of real fish fins.At the same time,an experimental platform was built to conduct structural optimization and comparative experiments on three types of bending joints.The experiment showed that by controlling the gas pressure value entering the trachea of the bending joint AB,the expansion,floating up,and diving of the pectoral fin can be achieved.At the same time,under the same effective length and pressure,the convex constraint bending joint has greater elongation and end face angle compared to other bending joints,When the air pressure value is 0.35Mpa,the elongation of the convex constraint joint reaches 18.39mm,and the end face angle of the convex constraint joint reaches 70.6°.Therefore,the convex constraint bending joint is selected as the connection and driving element for the movement of the pectoral fin.