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以柔性金枪鱼月牙尾鳍为对象,对三关节机器鱼建立物理模型,并用MATLAB进行仿真。由模型对机器鱼的推进动力及推进速度进行研究,探讨了前进速度、横移和摇摆的幅度、频率及其相位差对柔性尾鳍推进性能的影响。该方法实现的运动仿真与真实的鱼的运动基本一致,速度随着摆动频率的降低而减小,随着相位差的减小而增加,摆幅对速度的影响很大。
A flexible tuna crescent tail fin as the object, the establishment of physical model of the three-legged robot fish and simulation using MATLAB. The propulsive power and propulsion speed of the robot fish are studied by the model, and the influence of the amplitude, frequency and phase difference of the advancing speed, traversing and swinging on the propulsion performance of the flexible caudal fin is discussed. The motion simulation realized by this method is basically consistent with the real fish movement. The velocity decreases with the decrease of the swing frequency, and increases with the decrease of the phase difference. The swing has a great influence on the velocity.