科研之友
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摘要
Research on biomimetic robotic fish has been undertaken for more than a decade Various robotic fish prototypes have been developed around the world Although considerable research efforts have been devoted to understanding the underlying mechanism of fish swimming and construction of fish-like swimming machines robotic fish have largely remained laboratory curiosities This paper presents a robotic fish that is designed for application in real-world scenarios The robotic fish adopts a rigid torpedo-shaped body for the housing of power electronics, and payload A compact parallel four-bar mechanism is designed for propulsion and maneuvering Based on the kinematic analysis of the tail mechanism, the motion control algorithm of Joints is presented The swimming performance of the robotic fish is investigated experimentally The swimming speed of the robotic fish can reach 1 36 m/s The turning radius is 1 75 m Powered by the onboard battery the robotic fish can operate for up to 20 h Moreover, the advantages of the biomimetic propulsion approach are shown by comparing the power efficiency and turning
- 出版日期2011-2
- 单位北京航空航天大学
