[1]李明,史金飞,宋春峰,等.一种摆动式柔性尾部的仿生机器鱼[J].东南大学学报(自然科学版),2008,38(1):32-36.[doi:10.3969/j.issn.1001-0505.2008.01.007]
 Li Ming,Shi Jinfei,Song Chunfeng,et al.A kind of bionic robofish with swaying flexible tail fin[J].Journal of Southeast University (Natural Science Edition),2008,38(1):32-36.[doi:10.3969/j.issn.1001-0505.2008.01.007]
点击复制

一种摆动式柔性尾部的仿生机器鱼()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
38
期数:
2008年第1期
页码:
32-36
栏目:
自动化
出版日期:
2008-01-20

文章信息/Info

Title:
A kind of bionic robofish with swaying flexible tail fin
作者:
李明 史金飞 宋春峰 关鸿耀 王春健
东南大学机械工程学院, 南京 211189
Author(s):
Li Ming Shi Jinfei Song Chunfeng Guan Hongyao Wang Chunjian
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
关键词:
仿生机器鱼 摆动式推进 柔性尾部 沉浮机构
Keywords:
bionic robofish swaying propulsion flexible tail fin raising and lowering mechanism
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2008.01.007
摘要:
提出了一种摆动式柔性尾部的仿生机器鱼设计方案,着重解决了机器鱼摆动式推进的问题.在该方案中,应用曲柄摇杆原理,采用了特殊的四连杆摆动机构,结合柔性尾部实现了机器鱼的摆动式推进; 巧妙应用了霍尔位置传感器,检测摆杆临界位置,实现了鱼尾位置判断,进而控制鱼尾来转向; 研制了以气缸为压缩泵的气路沉浮机构作为"鱼鳔",能使机器鱼进行沉浮动作.实验显示这种机器鱼达到了预期的功能,在水下作业、军事侦察、娱乐等领域有一定的研究应用价值.
Abstract:
Focusing on solving the problem of swaying propulsion, a design of bionic robofish with swaying flexible tail fin is presented.In this design, according to the principle of crank-rocker, a special four-bar linkage swaying mechanism combined with the flexible tail fin is adopted to guarantee the stable swimming of robofish. The skillful application of hall position sensors achieves the detection of critical position of the swing link, which makes it possible to detect the position of the tail fin and control the turning of robofish. For effective raising and lowering, a mechanism using a cylinder as a pump to imitate the swimming bladder is developed. Experiments show that the robofish with our new swaying mechanism gets the desired performance. It can be applied to various fields, including underwater tasks, military reconnaissance and entertainments.

参考文献/References:

[1] Triantafyllou M S,Triantayfllou G S.An efficient swimming machine[J]. Scientific American,1995,272(3):64-70.
[2] Triantayfllou M S,Barrett D S,Yue D K P.A new paradigm of propulsion and maneuvering for marine vehicles[J].Trans Soc Naval Architects Marine Eng,1996,104:81-100.
[3] Barrett D S,Triantafyllou M S,Wolfgang M J.Drag reduction in fish-like locomotion[J].Journal of Fluid Mechanical,1999,392:183-212.
[4] 梁建宏,王田苗,魏洪兴,等.水下仿生机器鱼的研究进展Ⅱ——小型实验机器鱼的研制[J].机器人,2002,24(3):234-238.
  Liang Jianhong,Wang Tianmiao,Wei Hongxing,et al.Researchful development of underwater robofish Ⅱ—development of a small experimental robofish[J].Robot,2002,24(3):234-238.(in Chinese)
[5] 成巍,苏玉民,秦再白,等.一种仿生水下机器人的研究进展[J].船舶工程,2004,26(1):5-8.
  Cheng Wei,Su Yumin,Qin Zaibai,et al.Development of a bionic underwater vehicle[J].Ship Engineering,2004,26(1):5-8.(in Chinese)
[6] 童秉纲. 鱼类波状游动的推进机制[J].力学与实践,2000,22(3):69-74.
[7] 梁建宏,王田苗,魏洪兴.水下仿生机器鱼的研究进展Ⅰ——鱼类推进机理[J].机器人,2002,24(2):107-111.
  Liang Jianhong,Wang Tianmiao,Wei Hongxing.Research and development of underwater robofish Ⅰ-development of a small experimental robofish[J].Robot,2002,24(2):107-111.(in Chinese)

备注/Memo

备注/Memo:
作者简介: 李明(1982—),男,硕士生; 史金飞(联系人),男,博士,教授,博士生导师,shijf@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(70272046).
引文格式: 李明,史金飞,宋春峰,等.一种摆动式柔性尾部的仿生机器鱼[J].东南大学学报:自然科学版,2008,38(1):32-36.
更新日期/Last Update: 2008-01-20