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| Design and kinematics parametric investigation of biomimetic robotic crucian |
| ZHANG Yong-Hua1, HE Jian-Hui1, YAN Qin2 |
1. Department of Mechatronics Engineering, Taizhou Vocational Technical College, Taizhou 318000, China;
2. Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China,
Hefei 230027, China |
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Abstract For the purpose of automatic environment monitoring, resource detecting and military reconnoitering by using robotic fish, we selected crucian which concentrated high efficiency, high maneuverability and high stability as bionic object. Through principle of biomimetic engineering, we developed a biorobotic crucian model based on morphology, skeleton structure and kinematics of the crucian species. Meanwhile, a detailed analysis was provided on the design principle, the kinematic equation was built, and experiments were conducted to investigate the influences of kinematic parameters including the frequency, the amplitude, the wave length and the phase difference on velocity. From the experiments, the fish was able to generate enough thrust in static water conditions to propel itself. The propulsion speed increases with frequency, and reaches its maximum value 0.48 BL/s at 1.58 Hz, then decreases with frequency; the propulsion speed also increases with amplitude, and reaches its maximum value 0.43 BL/s at 6.3 cm, then slightly decreases; the propulsion speed always increases with wavelength in our experiment; finally, the propulsion speed increases with the phase difference, and reaches its maximum value 0.35 BL/s at 78°, then decreases. The research results provide valuable theoretical and experimental references for developing high performance bionic underwater propulsors in future．
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Published: 28 June 2011
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仿生机器鲫鱼的设计及运动学实验研究
为实现利用机器鱼进行自主水下生态环境监测、资源勘查和军事侦察等目标,选择了集高效性、高机动性和高稳定性于一体的鲫鱼作为仿生对象.基于鲫鱼形态、骨骼结构和运动学的研究基础,运用仿生学工程原理,开发了高性能的仿生机器鲫鱼模型.详细分析了仿生鲫鱼的设计原理,给出仿生鲫鱼的运动学方程,实验揭示了仿生鲫鱼频率、波幅、波长和相邻关节间的相位差等运动学参数对游动速度的影响规律.通过研究发现：仿生鲫鱼能够有效地在水中游动,游动速度随频率的增加而增加,到频率为1.58 Hz左右的时候,游速达到最大值0.48 BL/s,随后随频率的增加游速反而降低.随着波幅的增大,机器鲫鱼的游动速度明显增加，当波幅达到6.3 cm时,游速达到最大值0.43 BL/s,但之后游速反而略有下降.实验范围内,波长对推进速度的影响基本上是随波长增加而增加.游动速度一开始随相邻关节相位差的增大而增加,到相邻关节相位差为78°左右的时候,游速达到最大值0.35 BL/s,随后游速反而下降.研究结果可为今后研制高性能的仿生水下推进器提供理论和实验方法上的参考.
关键词：
鲫鱼,
实验研究,
仿生设计,
运动学参数,
机器鱼
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