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以2自由度胸鳍推进仿生箱鲀机器鱼为对象,研究其在单侧胸鳍推进、两侧胸鳍协同推进、以及单侧胸鳍与尾鳍协同推进等3种情形下的转弯特性.首先给出了胸鳍和尾鳍的正弦运动规律,并建立了3种情形下的转弯水动力学模型.然后利用数值方法分析了单侧胸鳍推进、单侧胸鳍/尾鳍协同推进时机器鱼实现给定半径转弯,以及两侧胸鳍协同推进时机器鱼实现原地转弯的特性,并给出了相应的转弯条件.实验结果表明,单侧胸鳍/尾鳍协同推进时的平均转弯角速度为0.26 rad/s;单侧胸鳍推进时的最大转弯角速度为0.314 rad/s,最小转弯半径为0.74倍体长;双侧胸鳍协同推进时原地转弯平均角速度为0.42 rad/s.与现有结果相比,所设计机器鱼转弯方式更为丰富,转弯机动性和转弯角速度较高.
The 2-degree-of-freedom pectoral fins propeller bionic robot was used as a target to study the turning behavior of the robot in three situations: unilateral pectoral fin advancement, synergistic propulsion of pectoral fins on both sides, and synergistic propulsion of unilateral pectoral fin and caudal fin.First, And the caudal fin sinusoidal motion, and established the three cases of the curve of the hydrodynamic model.And then the use of numerical methods to analyze the unilateral pectoral fin propulsion, unilateral pectoral fin / caudal fin synergies to achieve a given radius when the robot turns, and two The results show that the mean turning angular velocity of unilateral pectoral fins / caudal fins is 0.26 rad / s during synergistic propulsion; when unilateral pectoral fins are advanced The maximum turning angular velocity is 0.314 rad / s and the minimum turning radius is 0.74 times body length. The average angular velocity of the native pylon when the bilateral pectoral fins advance synergistically is 0.42 rad / s. Compared with the existing results, For abundance, cornering maneuvers and cornering angles are higher.