工程设计学报2011，Vol.18Issue(3)：167-173,7.DOI:10.3785/j.issn.1006-754X.2011.03.003
仿生机器鲫鱼的设计及运动学实验研究
Design and kinematics parametric investigation of biomimetic robotic crucian
摘要
Abstract
For the purpose of automatic environment monitoring, resource detecting and military reconnoitering by using robotic fish, we selected crucian which concentrated high efficiency, high maneuverability and high stability as bionic object. Through principle of biomimetic engineering,we developed a biorobotic crucian model based on morphology, skeleton structure and kinematics of the crucian species. Meanwhile, a detailed analysis was provided on the design principle, the kinematic equation was built, and experiments were conducted to investigate the influences of kinematic parameters including the frequency, the amplitude, the wave length and the phase difference on velocity. From the experiments, the fish was able to generate enough thrust in static water conditions to propel itself. The propulsion speed increases with frequency, and reaches its maximum value 0.48 BL/s at 1.58 Hz, then decreases with frequency; the propulsion speed also increases with amplitude, and reaches its maximum value 0.43 BL/s at 6.3 cm, then slightly decreases; the propulsion speed always increases with wavelength in our experiment; finally, the propulsion speed increases with the phase difference, and reaches its maximum value 0. 35 BL/s at 78°, then decreases. The research results provide valuable theoretical and experimental references for developing high performance bionic underwater propulsors in future.关键词
鲫鱼/实验研究/仿生设计/运动学参数/机器鱼Key words
crucian/ experimental research/ biomimetic design/ kinematics parameter/ robot fish分类
信息技术与安全科学引用本文复制引用
章永华,何建慧,颜钦..仿生机器鲫鱼的设计及运动学实验研究[J].工程设计学报,2011,18(3):167-173,7.基金项目
浙江省高校青年教师资助计划项目(浙教办高科[2010]175号) （浙教办高科[2010]175号）
台州职业技术学院校级重点课题(2011ZD04). （2011ZD04）
