基于虚拟样机的仿鲹科机器鱼游动姿态仿真研究
张祺1，姚志刚2，陈奇2，刘蕊1，贾帅1，陈俊杨1
（1.合肥工业大学 汽车与交通工程学院，安徽 合肥 230009；2.合肥工业大学 机械工程学院，安徽 合肥 230009）
摘要：为实现仿鲹科机器鱼的真实运动模拟，通过对一种仿鲹科机器鱼进行方案设计、三维实体建模和ADAMS运动仿真，实现仿鲹科机器鱼的仿真模拟；设置多舵机串联驱动机器鱼多种驱动模式，进行鲹科鱼类的推进模式及其动力学分析；并通过对比各个游动模式下的机器鱼身体波波幅包络曲线，获得机器鱼最贴合实际的舵机驱动方式。本研究为仿鲹科机器鱼的设计和优化提供参考依据。
关键词：仿鲹科机器鱼；舵机驱动；ADAMS；动力学分析；包络线
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2019.01.015
文章编号：1006－0316 (2019) 01－0068－05
Research on Robotic Carangidae Fish Swimming Posture Simulation Based on Virtual Prototype
ZHANG Qi1，YAO Zhigang2，CHEN Qi2，LIU Rui1，JIA Shuai1，CHEN Junyang1
( 1.School of Automobile and Traffic Engineering, Hefei University of Technology, Hefei 230009, China;2.School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China )
Abstract：To realize the real motion simulation of biomimetic carangidae robot fish, in this paper, firstly, simulation of biomimetic carangidae robot fish is carried out, which by the scheme design, three-dimensional solid modeling and ADAMS motion simulation; secondly, by setting up multiple driving modes of robot-fish driven by multi-actuator series, the propulsion model and dynamic analysis of biomimetic carangidae robot fish were carried out; finally, by comparing the envelope curve of the robot fish’s body wave in each swimming mode, the most fitting practical servo drive mode of robot fish is obtained. The research of this paper helps to provide references for the design and optimization of biomimetic carangidae robot fish.
Key words：biomimetic carangidae robot fish；actuator drive；ADAMS；dynamic analysis；envelope line
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收稿日期：2018－03－26
基金项目：国家级大学生创新创业训练资助项目（201610359011）
作者简介：张祺（1996－），男，安徽池州人，本科生，主要研究方向为机械传动及控制、计算流体力学。*通讯作者：陈奇（1979－），男，安徽合肥人，博士，教授，主要研究方向为机械传动及控制。
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