基于虚拟样机的仿鲹科机器鱼游动姿态仿真研究
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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.
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.
引文
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[2]Breder C C M. Respiration a as a Factor in Loc comotion of Fishe es[J].American N Naturalist,1924,58(655):145-155.
[3]陈维山,夏丹,刘军考,等.鲹科和鲔科科仿鱼机器人自主主游动机理的分析析与比较[J].机械械工程学报,20100,46(23):1-7.
[4]王扬威,于凯,闫勇程.BCF推进模式仿仿生机器鱼的研究究现状与发展趋势势[J].微特电机,2016,44(1):75-80.
[5]朱耀武.基于UG和AD AMS的滑块联轴轴器的仿真研究[J J].机械设计与制制造工程,2014(6):30-32.
[6]潘潘毓学.机械原理理[M].华中科技大大学出版社,2016.
[7]唐唐金松.机械设计计手册(第3版)[J].中国机械工程,,2004(11):947-947.
[8]Lii ghthill M J. Aqua atic animal propu lsion of high hydrr omechanical effic iency[J]. Journal of Fluid Mechani ics,1970,44(2):265-301.
[9]D U R,LI Z,YOU UCEFTOUMI K,et al. Robot Fish:Bio-inspired Fishll ike Underwater R Robots. Springer,2015.
[10]孟孟令森,吴胜,王王永娟,等蛇形蠕蠕动机器人行波运运动和动力学研究究[J].机械与电子,2017(12):68-71.