小型单关节机器鱼设计与游动稳定性分析
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东莞理工学院

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国家自然科学基金青年科学基金项目(12302296);广东省自然科学基金面上项目(2023A1515011506);广东省城市生命线工程智慧防灾与应急技术重点实验室项目(2022B1212010016);东莞市科技特派员项目(20231800500632)。

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Design and Swimming Stability Analysis of Small Single-Joint Robotic Fish
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Dongguan University of Technology

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    摘要:

    基于鲹科鱼的推进模式,采用鱼鳍模块化设计,设计了一款结构紧凑、成本低廉、高效游动的小型单关节仿生机器鱼,可以方便地对胸鳍、腹鳍和尾鳍进行拆装,对仿生机器鱼的直线推进、静止转弯、鱼头稳定性进行了水下实验,从而研究胸鳍和腹鳍对游动性能的影响。在样机游动测试中,采用了一台高速相机和一面平面镜构建的记录机器鱼运动的“双目视觉系统”,可以对鱼头最前端以及质点上方两处标记点进行追踪并记录三维位置信息,为机器鱼游动的游动性能、姿态变化以及头部稳定度的定量分析提供数据支持。结果表明:机器鱼具有良好的直线推进性能和转弯性能;在稳定性实验中装配上胸鳍和腹鳍的机器鱼头部稳定性在低频游动时更优,而在高频游动时没有显示出优势,这也和自然界中鱼类在高频游动时除尾鳍外的各种鳍紧贴身体的现象相一致。

    Abstract:

    This paper presents a design of single-joint biomimetic robotic fish with compact structure and high swimming efficiency. It allows for convenient disassembly and assembly of pectoral fins, pelvic fins, and caudal fins. The influence of pectoral and pelvic fins on swimming performance was studied via underwater experiments. In the prototype swimming tests, a "binocular vision system" for tracking and recording the motion of the robotic fish was constructed using a high-speed camera and a flat mirror. It enabled tracking and recording of the three-dimensional position information of two marked points on the foremost end of the fish head and above its center of mass. This system provided data support for the quantitative analysis of the swimming performance, posture changes, and head stability of the robotic fish. The results indicated that the robotic fish have good performance in linear propulsion and turning. In the stability experiments, the head stability of the robotic fish equipped with pectoral fins and pelvic fins is better during low-frequency swimming. But no advantage is shown during high-frequency swimming, which is consistent with the phenomenon of various fins of fish in the natural environment being close to the body during high-frequency swimming except for the caudal fin.

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引用本文

谢智钧,赵灿明,柯鑫,等.小型单关节机器鱼设计与游动稳定性分析 [J].集成技术,

Citing format
Xie Zhijun, Zhao Canming, Ke Xin, et al. Design and Swimming Stability Analysis of Small Single-Joint Robotic Fish[J]. Journal of Integration Technology.

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  • 收稿日期:2024-03-12
  • 最后修改日期:2024-03-12
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  • 在线发布日期: 2024-05-16
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