仿生机器鱼艏向摆动动力学仿真及分析

由尾鳍拍动产生侧向力导致的机器鱼的艏摇能够影响航行器的推进效率。该文首次运用Adamas软件埘北京航空航天大学机器人研究所“SPC—Ⅱ”仿生机器鱼进行了尾鳍受力分析和动力学仿真。从鱼体和尾鳍推进机构质阜比、拍动频率以及对尾鳍攻角的影响三个方面对仿真结果进行了分析，得出以下结论：随着鱼体和尾鳍推进机构质量比的增大以及频率的增大。艏摇不断减小；鱼体和尾鳍推进机构质量比小于78，没有出现共振现象；艏摇的存在会明显的衰减尾柄主臂和尾鳍攻角的角位移。

Hydrodynamic Simulation and Analysis of Yawing of Bionic Robot Fish

The side force generated by swing of tail fin will influences the propulsive efficiency of robot fish.The thesis analyzed the hydrodynamic force on the tail fin of the bionic robot fish SPC-II made by Robot Institute of Beihang University.Hydrodynamic simulation on yawing of the robot fish was made with the Adams software from three aspects: the mass ratio between body and the propulsive parts,the oscillation frequency and the propulsive angle of tail fin.Finally some conclusions were got: the yawing angle decreases with the increase of either the mass ratio between body and propulsive parts or the oscillation frequency.The resonance phenomena do not occur when the oscillation frequency is less than 78.The yawing can apparently attenuate the angular displacement of both the tail and the attack angle of tail fin.