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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。
According to the forced vibration response of the variable cross section cantilever, the deformation of the fish body was simulated, and the single-driven bionic fish was designed. The straight-line parade, turning and acceleration-gliding experiment of the robot fish were carried out. The high-speed video camera records the movement process of the fish, the sequence of images processed to obtain the dynamic characteristics of the robot fish. The results show that the maximum steady-state speed of single-driven robotic fish is about 1 BL / s, the minimum turning radius is about 270 mm, and wake characteristics are good. The effect of swing frequency and swing on speed and swing- The speed value is larger under the condition of accelerating the taxi time ratio of 2: 1, and then the method of improving the swimming efficiency is put forward. The results show that the single-drive method is more reasonable than the traditional one.