| 多关节鱼形机器人的动态特性的建模与仿真研究 |
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| 引用本文： | 俞经虎,竺长安,陈宏,程刚,曾议,张屹.多关节鱼形机器人的动态特性的建模与仿真研究[J].水动力学研究与进展(A辑),2005,20(3):381-385. |
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| 作者姓名： | 俞经虎 竺长安 陈宏 程刚 曾议 张屹 |
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| 作者单位： | 江南大学,江苏无锡,214036;中国科学技术大学,安徽合肥,230026 |
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| 摘 要： | 本文以James LightHill的鱼类的细长体理论为基础，利用能量守恒、动量定理和波动理论来分析计算仿生机器鱼在运动中的受力。建立了转角、相位差、转动频率等重要参数的动态模型，在对模型进行仿真的基础上，对仿生机器鱼的效率进行了数值模拟和估算，分析了影响效率的一些因素，揭示了鱼类运动的高效的机理，为进一步展开对仿生机器鱼的研究提供了一个思路。
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| 关 键 词： | 动量定理 仿真 模型 波动 |
| 文章编号： | 1000-4874(2005)03-0381-05 |
Research on the dynamics model and simulation of the multi-joint fish-like robot |
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| YU Jing-hu,ZHU Chang-an,CHEN Hong,CHEN Gang,ZENG Yi,ZHANG Yi.Research on the dynamics model and simulation of the multi-joint fish-like robot[J].Journal of Hydrodynamics,2005,20(3):381-385. |
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| Authors: | YU Jing-hu ZHU Chang-an CHEN Hong CHEN Gang ZENG Yi ZHANG Yi |
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| Abstract: | On the basis of the slender hody theory, the force acting on the fish-lick robot is analysed through the conservation of energy, momentum theory and wave theory. The model of the kinetic parameters of the fish-lick robot such as turning angle, phase difference and turning frequency is also established. Through the model simulation, the efficiency of the fish-lick robot is calculated and the fish's high efficiency is explained. All of this provides a new idea for the research on the fish-lick robot. |
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| Keywords: | momentum theory simulation model wave |
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