福州大学学报（自然科学版）2025，Vol.53Issue(2)：159-167,9.DOI:10.7631/issn.1000-2243.24081
张拉仿生机器鱼身体刚度分布对鱼体波参数的影响
Experimental study on the influence of body stiffness distribution on body wave parameters of a tensegrity robotic fish
摘要
Abstract
The relationship between the body stiffness distribution and the wave parameters of the fish body is preliminarily explored through experiments,using the previously developed tensegrity robotic fish.The midline reconstruction method is used to obtain these parameters for the robotic fish with varying stiffness distributions at a frequency of 1.87 Hz.Experimental results reveal relationships between amplitude,phase,wave velocity,curvature,and stiffness distribution.By adjusting body stiffness distribution,the robotic fish achieves a maximum increase of approximately 21.5%in wave velocity.The tail and head amplitudes of the robotic fish are close to those observed in real fish.The positions of maximum curvature are altered.Furthermore,non-uniform stiffness distribution exhibits advantages in modifying amplitudes.The fourth joint's stiffness of the robotic fish has a significant impact on wave velocity,while exerting a minor influence on curvature.The relationship between body stiffness distribution and fish body wave parameters aids robotic fish in optimizing parameters by controlling stiffness,consequently improving swimming performance.关键词
仿生机器鱼/张拉整体结构/鱼体波参数/刚度分布Key words
biomimetic robotic fish/tensegrity structure/fish body wave parameters/stiffness distribution分类
机械制造引用本文复制引用
陈文祥,章杰,姜洪洲,姚立纲,陈炳兴..张拉仿生机器鱼身体刚度分布对鱼体波参数的影响[J].福州大学学报（自然科学版）,2025,53(2):159-167,9.基金项目
国家自然科学基金资助项目(52205303) （52205303）
福建省自然科学基金面上资助项目(2023J01056) （2023J01056）
