仿生机器鱼运动学模型优化与实验

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Title:

Ptimization and experimentation on the kinematic model of bionic robotic fish

作者:

王平¹, 许炳招¹, 娄保东², 倪羽洁¹

1. 河海大学 能源与电气学院, 江苏 南京 210098;
2. 河海大学 工程训练中心, 江苏 南京 210098

Author(s):

WANG Ping¹, XU Bingzhao¹, LOU Baodong², NI Yujie¹

1. College of energy and electrical, Hohai University, Nanjing 210098, China;
2. Mechanic Skill Training Center, Hohai University, Nanjing 210098, China

关键词:

仿生机器鱼; 运动学模型; 头部摆动; 游动速度; 转动中心; 游动特性; 鱼体波; 巡游

Keywords:

bionic robotic fish; kinematic model; head sway; swimming speed; rotation center; swimming characteristic; fish body wave; cruise

分类号:

TP242

DOI:

10.11992/tis.201604034

摘要:

以仿生学为基础的机器鱼是一种新型水下机器人，具有高速、高效、节能等方面优势。为进一步探索仿生机器鱼的运动机理，指出了当前仿生机器鱼运动学模型存在的不足，即未考虑因制造、鱼体结构的影响，而产生的头部左右摆动。故在考虑仿生机器鱼头部摆动的情况下，构建头部摆动方程，引入摆动偏移量，修正其运动学模型。利用MATLAB对模型进行优化，分析结果表明修正后的运动学模型更能够描述实体仿生机器鱼的游动特性。最后，将修正后的运动学模型，运用到三关节仿生机器鱼上进行实验，结果表明，该模型能够有效地抑制仿生机器鱼头部摆动，进而提高了仿生机器鱼的游动速度。

Abstract:

Bionic robotic fish are a new type of underwater robot with the advantages of high speed, high efficiency, and reductions in energy consumption. To further explore the mechanism used to move these bionic robotic fish, we focus on the present kinematic model and identify defects, e.g., the head sway caused by the manufacturer and inherent fish structure has not yet been considered. Therefore, after considering the head sway of the bionic robotic fish, we establish a head away equation, introduced the sway offset, and revised the kinematic model. Next, we used MATLAB to optimize the model. Our analytic results show that the revised kinematic model more precisely describes the swimming properties of the bionic robotic fish. Finally, we applied our revised kinematic model to experiments involving three-joint bionic robotic fish. Our experimental results show that our model can effectively restrain the head sway of the fish and thereby increase the swimming speed.