多关节仿鱼运动推进机构的设计与实现

鱼类效率高、机动性强、持久力长的游动方式为人类水中运输设备提供了极佳的设计思路.通过模仿鱼类的运动方式,可设计出新颖的水下运输、作业装备.本文以仿鱼推进机构的设计和实现为目标,根据鱼类游动的特点,对其运动方式进行数字模拟,分析影响其游动性能的关键参数,并建立鱼类游动的数学模型.据此给出了一种多关节仿鱼推进机构的设计方案,完成了辅助这种仿生推进机构设计的仿真软件.借助可视化的鱼类游动及控制的仿真,给出仿鱼推进机构的关键参数,并研制了采用鱼类游动方式运动的仿生机器鱼.

Design and Realization of Fish-like Machine Propelled with Multi Links

Compared with conventional marine vehicles powered by rotary propellers, fis h has excellent swimming ability in water. The performance of fish swimming with tremendous propulsive efficiency, excellent maneuverability and long duration a ttract researchers' attention. The harmonic movements of its body enlightened r esearchers to design novel underwater vehicles with fish-like figure. This pape r concerns with the design and realization of a novel underwater machine with mu lti links based on the carangiform fish body structure and swimming mode. Accord ing to the determinant parameters distilled from fish's swimming mode, a raw des ign scheme is firstly presented and computer simulations are then done to test i ts reliability and efficiency. Secondly, a mathematic model of carangiform fish swimming is presented based on the parameters and the analysis of the simulation s. An optimization algorithm is then introduced to the mathematic mode to improv e the former design, and a stable scheme of designing a fish-like swimming mach ine with multi links is achieved. At last, a software program is developed to fa cilitate the design and realization of the swimming machine. An efficient contro l system is equipped on the swimming machine to promote and control the fish-li ke swimming machine implementing complex locomotion with high flexible and effic iency. The experiment results with the prototype machine show its good swimming performance.