| 仿生机器鱼的快速起动性能研究 |
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| 引用本文： | 陈宏,竺长安,尹协振,邢晓正. 仿生机器鱼的快速起动性能研究[J]. 船舶力学, 2007, 11(5): 647-654 |
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| 作者姓名： | 陈宏 竺长安 尹协振 邢晓正 |
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| 作者单位： | 深圳大学机电与控制工程学院,深圳,518060;中国科学技术大学工程科学学院,合肥,230026 |
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| 摘 要： | 基于鱼类快速起动的仿生学研究,建立了仿生机器鱼S形起动的运动方程,对S形起动的鱼体体干曲线波分别进行仿真计算和分析.通过解析鱼体受到的横向摆动流体举力、尾涡反作用力、边界层摩擦阻力和纵向附加质量力,建立快速起动的动力学模型.利用多步态的仿真实验,分析讨论了各起动性能指标的变化情况,并阐明了各运动控制参数对快速起动性能的影响.
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| 关 键 词： | 仿生机器鱼 S形起动 运动方程 动力学模型 快速起动性能 |
| 文章编号： | 1007-7294（2007）05-0647-08 |
| 修稿时间： | 2007-05-01 |
Research on fast-start performance of fish-like underwater robot |
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| CHEN Hong,ZHU Chang-an,YIN Xie-zhen,XING Xiao-zheng. Research on fast-start performance of fish-like underwater robot[J]. Journal of Ship Mechanics, 2007, 11(5): 647-654 |
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| Authors: | CHEN Hong ZHU Chang-an YIN Xie-zhen XING Xiao-zheng |
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| Affiliation: | 1 College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China; 2 School of Engineering Science, University of Science and Technology of China, Hefei 230026, China |
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| Abstract: | Based on bionic research on fast-start of fish,the motion equations of S-start are established.Subsequently,law of motion of body centerline are simulated and expatiated.On the basis of research on thrust and drag as result of lateral oscillation of fish body,tailing vortex,boundary layer friction,added mass of lengthwise direction,dynamic model are acquired.The multi-gait simulating experiments display attributes of fast-start performance.For the purpose of improvements of swimming capability of fast-start,the relationships between motion parameters and performance index are elaborated deeply. |
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| Keywords: | fish-like underwater robot S-start kinematic equation dynamic model fast-start performance |
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