| 司步带传动周转轮系机器鱼的设计与验证 |
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| 引用本文： | 范哲,梁建宏,丑武胜,鲍磊.司步带传动周转轮系机器鱼的设计与验证[J].机械工程师,2010(4):40-43. |
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| 作者姓名： | 范哲 梁建宏 丑武胜 鲍磊 |
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| 作者单位： | 北京航空航天大学,机器人研究所,北京,100191 |
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| 基金项目： | 国家杰出青年科学基金支持项目 |
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| 摘 要： | 介绍了一种用于拖曳试验的多关节机器鱼试验平台，用以研究鱼类尾鳍游动机制，提供功耗可测，且能够精确拟合亚绣科鱼类运动曲线的多关节机器鱼。根据生物学鳕鱼外形观测数据，同时采用伺服电机驱动同步带串联周转轮系传动的方式，使仿生机器鳕鱼在形态学和运动学上最大程度复现自然界鱼类游动方式。介绍了平台的机械结构及运动控制的实现，同时利用虚拟样机技术对机器鱼设计方案进行运动学验证以及动力学分析。结果表明机构设计合理，能够满足设计需求。
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| 关 键 词： | 机器鱼 功耗测量 同步带 虚拟样机 |
Design and Analysis of a Robotic Fish Based on The Synchronized Belt Transmission Mechanism |
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| FAN Zhe,LIANG Jing-hong,CHOU Wu-sheng,BAO Lei.Design and Analysis of a Robotic Fish Based on The Synchronized Belt Transmission Mechanism[J].Mechanical Engineer,2010(4):40-43. |
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| Authors: | FAN Zhe LIANG Jing-hong CHOU Wu-sheng BAO Lei |
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| Affiliation: | (Robotic Institution, Beijing University of Aeronautics and Astronautics,Beijing 100191, China) |
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| Abstract: | This paper gives a introduction to the design of a robotic fish.A servo-drive, four-link, power-measurable, biomimetic robot fish is developed in the aim of studying the mechanism of fish swimming. We apply a new kind of power transmission mechanism using synchronous belts and wheels to construct a set of planetary wheel train. With this transmission mechanism, the motion generated by four DC servo motors is transmitted to the four links which are decoupled from each other. We established a virtual prototype to take some kinematic and dynamic analysis. The result was satisfied. |
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| Keywords: | robot fish power measurement planetary wheel train virtual prototype |
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