集成技术2025，Vol.14Issue(1)：39-49,11.DOI:10.12146/j.issn.2095-3135.20240312002
小型单关节机器鱼设计与游动稳定性分析
Design and Swimming Stability Analysis of Small Single-Joint Robotic Fish
摘要
Abstract
The paper designed a compact,low-cost,and efficiently swimming small,single-jointed bionic robotic fish based on the propulsion mode and fin modularity of trevally fish,with easy disassembly of the pectoral,ventral,and caudal fins.In addition,the paper conducted underwater experiments on the straight-line propulsion,static turning,and head stability of the bionic robotic fish,and investigated the effects of the pectoral and ventral fins on the swimming performance.In the swimming test of the prototype,the paper utilizes a high-speed camera and a plane mirror to construct a"binocular vision system"to record the movement of the fish,which can track the most anterior part of the fish head and two marking points above the prime point,and record the three-dimensional position information.This can provide a reference for quantitative analysis of swimming performance,attitude change and head stability performance.The results showed that the straight-line propulsion and turning performance of the robotic fish was better;in the stability experiment,the robotic fish equipped with pectoral and ventral fins had better head stability in low-frequency swimming,while it did not show an advantage in high-frequency swimming,which was consistent with the phenomenon that various fins except the caudal fin stick to the body in high-frequency swimming of fishes in nature.关键词
小型机器鱼/单关节/水下实验/头部稳定性Key words
small robotic fish/single-joint/underwater experiment/head stability分类
信息技术与安全科学引用本文复制引用
谢智钧,赵灿明,柯鑫,肖扬,武静,宋加雷..小型单关节机器鱼设计与游动稳定性分析[J].集成技术,2025,14(1):39-49,11.基金项目
东莞市科技特派员项目(20231800500632) （20231800500632）
广东省自然科学基金面上项目(2023A1515011506) （2023A1515011506）
广东省城市生命线工程智慧防灾与应急技术重点实验室项目(2022B1212010016) （2022B1212010016）
国家自然科学基金青年科学基金项目(12302296) This work is supported by Dongguan City Science and Technology Commissioner Project(20231800500632),Guangdong Natural Science Foundation General Project(2023A1515011506),Guangdong Provincial Key Laboratory of Intelligent Disaster Prevention and Emergency Technology for Urban Lifeline Engineering(2022B1212010016),National Natural Science Foundation of China Youth Science Fund Project(12302296) （12302296）
