柔性仿生机器鱼驱动频率设计原则

Design principle of driving frequency of flexible biomimetic robotic fish

通过理论分析得到柔性仿生机器鱼鱼尾固有频率的表达式,并从中获得一种改变固有频率的方法,设计制作3个固有频率不同的柔性鱼尾并进行试验。所描述的获取鱼尾材料参数的方法更加可靠,驱动频率范围更高。试验得出:驱动频率接近固有频率,可改善柔性仿生机器鱼的运动特性,并且,相对于1阶固有频率,驱动频率等于2阶固有频率时的运动特性更好。提出了根据驱动频率范围,设计具有更优运动特性的柔性仿生机器鱼,确定驱动频率的准则。

In this article,by means of theoretical analysis,the equation of natural frequency of flexible biomimetic robotic fish’s tail is obtained,which renders a method of changing the natural frequency.Then,three flexible fish tails with different natural frequencies are developed and tested.The method of obtaining the fish tail’s material parameters is more reliable,and the range of driving frequency is wider.The test shows that when the driving frequency is close to the natural frequency,the motion characteristics of the flexible biomimetic robotic fish can be improved;the motion characteristics are better when the driving frequency is equal to the second-order natural frequency,rather than the first-order natural frequency.Thus,both the principles of devising a flexible biomimetic robotic fish with better motion characteristics and determining the driving frequency according to the range of driving frequency are identified.