单驱动仿生机器鱼加速–滑行动态特性的数值研究.PDF

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单驱动仿生机器鱼加速–滑行动态特性的数值研究.PDF

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单驱动仿生机器鱼加速–滑行动态特性的数值研究

34 4 ROBOT Vol.34, No.4 2012 7 July, 2012 DOI 10.3724/SP.J.1218.2012.00411 – 211189 – – TP24 A 1002-0446(2012)-04-0411-07 A Numerical Study on the Dynamics Responses of a Single Actuated Bio-mimetic Robotic Fish during Burst-and-coast Swimming WAN Hong WANG Xingsong (School of Mechanical Engineering, Southeast University, Nanjing 211189, China) Abstract: A single actuated bio-mimetic robotic ﬁsh is designed based on forced vibration responses of a non-prismatic cantilever which mimick the ﬁsh body deformation. The deforming dynamical equations of the ﬁsh body during its self- propelled swimming process are developed. Then, the dynamical characteristics of the burst-and-coast swimming mode of the ﬁsh are studied by numerical simulations. The simulation results show that higher swimming efﬁciency can be achieved by changing the ratio between burst time and coast time, which add a new high-efﬁciency control mode of robotic ﬁsh. Keywords: robotic ﬁsh; single actuated; deformation body; burst-and-coast 1 Introduction – 2 3 7 MIT