基于拉线机构的机器鱼运动控制仿真研究

摘要

It is well-known that people develop robot fish to mimic the style of fish swimming and to develop ex-cellent underwater vehicle with high efficiency and high maneuverability.This paper presents a novel robot fish based on wire-driven mechanism and the main contents are the kinematics simulation analysis and control.It an-alyses the motion curve of wire-driven robot fish,comparing it with the body curve of real fish swimming.Moreo-ver we compare the swimming curve of wire-driven robot fish with that of the traditional multi-connection driven robot fish and find that the wire-driven robot fish can fit the body curve of fish swimming more accuratly than the traditional robot fish.We also develop the prototype of the wire-driven robot fish and the control system for fur-ther research.%研究机器鱼是为了模仿鱼类的游动方式，研究出更为高效、灵活的水下航行器。文中介绍了一种基于拉线机构的机器鱼，主要介绍了对拉线机构应用在机器鱼推进上的仿真分析和控制。对拉线机构的鱼尾进行了仿真分析，并对比真实鱼类游动时的体干波曲线。仿真结果显示：基于拉线机构的机器鱼与传统的多关节串联驱动的机器鱼相比能更好地模拟真实鱼类的游动。制作了机器鱼样机和控制系统，用于进一步分析研究基于拉线机构的机器鱼的性能。