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鱼形机器人快速转向的运动特性研究

Hong Chen,Changan Zhu,Xiezhen Yin,Xiaozheng Xing

Yingyong Lixue Xuebao/Chinese Journal of Applied Mechanics（2008）

Cited 4|Views7
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Abstract
基于C形转向的仿生学研究和简化物理模型,建立了鱼形机器人快速转向的运动学方程,分析体干中线运动步态和鱼体质心的运动规律.计算了转动惯量、驱动力矩和阻力矩,建立C形转向的动力学模型.通过前摆转向的多步态仿真游动实验,解析鱼体柔性段弧长和相对弯曲度对质心轨迹、转动惯量、力矩、转动角位移和最大转动角速度的影响,提出了有效提高鱼形机器人快速转向性能的方法.
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Key words
C-turn,Dynamic model,Fast-turn performances,Fish-like robot,Kinematic equation
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