| 戴云彤,万宏,徐继刚,蒋明*.单驱动仿生机器鱼动力特性的实验研究[J].实验力学,2013,28(3):326~332 |
| 单驱动仿生机器鱼动力特性的实验研究 |
| Experimental Study of Dynamic Characteristics of Single Actuated Bionic Robotic Fish |
| 投稿时间：2012-06-27 修订日期：2012-12-20 |
| DOI：10.7520/1001-4888-12-083 |
| 中文关键词: 机器鱼 单驱动 巡游 转弯 加速-滑行 |
| 英文关键词:robotic fish single actuated cruising turning acceleration-coasting |
| 基金项目:国家自然科学基金(11172193,10872139)资助项目 |
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| 中文摘要: |
| 根据变截面悬臂梁受迫振动响应来模拟鱼体变形,并设计了单驱动仿生机器鱼,进行了机器鱼直线巡游、转弯和加速-滑行实验。由高速摄像机记录机器鱼运动过程,对序列图像进行处理,获得机器鱼动力特性。结果表明：单驱动机器鱼最大稳态速度约为1BL/s,最小转弯半径约为270mm,尾流动力特性良好;论证了摆动频率与摆幅对速度的影响以及摆幅与速度对转弯半径的影响;在加速滑行时间比率2∶1的情况下,速度值较大,进而提出了提高游动效率的方法。研究结果证明单驱动方式较传统驱动方式更合理。 |
| 英文摘要: |
| Single actuated bionic robotic fish was designed and its deformation is simulated based on the forced vibration response of variable cross-section cantilever. Experiments of the straight line cruising, the turning and the acceleration-coasting of robotic fish were carried out. The process of robotic fish movement was recorded by a high-speed camera; the captured sequential images were processed to obtain the dynamic characteristics of robotic fish. Results show that the maximum steady speed of single actuated robotic fish is about 1BL/s and the minimum turning radius is about 270mm, the dynamic characteristics of wake flow is good. The influence of swing frequency and swing amplitude on velocity and the influence of swing amplitude and velocity on turning radius were demonstrated. In the case of acceleration-coasting time ratio 2∶1, the speed is higher, and then a method to improve the swimming efficiency was proposed. Above results verify that the single actuation is more reasonable than the traditional actuation. |
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