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动力建模和实验研究一条绳索驱动的生物鱼

Bo Zhang¹, Yongchen Huang¹, Zhuo Wang¹

¹College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China.

Biomimetics (Basel, Switzerland)

|June 26, 2024

概括

这项研究介绍了一种新的仿生鱼类机器人,具有有线驱动的柔性脊柱,增强了游泳控制. 这个机器人,就是机器人.

科学领域:

机器人技术机器人技术机器人技术
生物模拟学是一种生物模拟学.
机械工程机械工程

背景情况:

传统的机器人鱼通常使用刚性结构或复杂的伺服系统.
在身体和翅膀运动之间实现精确的相位控制是具有挑战性的.
现有的设计可能缺乏天然鱼类的灵活性和机动性.

研究的目的:

开发一个生物模拟鱼类机器人,具有集成的电缆驱动的柔性脊柱.
为了加强对身体和尾运动的控制,以提高机动性.
建立和验证自主游泳的动态和数值模型.

主要方法:

一个有线驱动机制与灵活的脊柱的集成.
开发了一种仿生鱼类机器人的原型.
建立动力模型和基于预压力的数值模型.
2D自主游泳的多物理场模拟.
动力学模型的实验验证.

主要成果:

成功开发了一种生物模拟鱼类机器人的原型.
证明了增强的灵活性和相差控制的方便性.
通过模拟和实验验证了动力学模型的准确性.
通过模拟获得的游泳特性和水力动力学特性.

结论:

拟议的电缆驱动的柔性脊柱设计提供了卓越的控制和灵活性.
开发的动力学和数值模型准确地代表了机器人的游泳行为.
这种方法促进了敏捷和高效的仿生水下车辆的开发.

关键词:

生物鱼是一种生物鱼类.灵活的脊柱灵活的脊柱模拟模拟是指一个模拟模拟.有线驱动器驱动器

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