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咽颌运动模式仿生胸鳍的建模及试验研究 被引量：2

Research on Modeling and Experiment of Bionic Pectoral Fin of Labriform
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摘要 从咽颌运动模式鱼类胸鳍的骨骼结构和神经肌肉控制机理出发,充分发挥导边鳍条和后缘边鳍条的引导作用,设计一套新型的柔性仿生胸鳍,建立此仿生胸鳍的样机及其运动学和动力学模型。并对仿生胸鳍的推进运动进行了仿真分析和试验研究。将上述仿生胸鳍推进运动的仿真结果、试验结果以及实际胸鳍推进运动的观测结果进行了比较研究可以看出,所建立的仿生胸鳍数学模型是合理、有效的,能够较好地仿真仿生胸鳍的推进运动,同时从中也可以看出,所建立的胸鳍仿生机构能够较好地模拟鱼类胸鳍的推进运动。 Aiming at the skeleton structure and neuromuscular control mechanism of pectoral fin of labriform fish, a new flexible bionic pectoral fin which fully utilized the pull of the leading edge ray and the trailing edge ray is designed. The prototype of the bionic pectoral fin is made while its kinematic and dynamic models are built. The propulsion motion of pectoral fin is analyzed by simulation and experiment. According to the result of compare between the result of simulation and experiment and the observation result of propulsion motion of real pectoral fin, the established mathematical model of bionic pectoral fin is reasonable and effective, which can better simulate the propulsion motion of bionic pectoral fin. And it can also be concluded that the established bionic device can imitate the fish propulsion motion well.
作者 刘强 龚成龙 纪志成
机构地区 淮海工学院电子工程学院 江南大学通信与控制工程学院
出处 《机械工程学报》 EI CAS CSCD 北大核心 2013年第21期81-88,共8页 Journal of Mechanical Engineering
基金 国家自然科学基金青年基金(61105110) 江苏省高校自然科学研究(11KJD510001) 江苏高校优势学科建设工程资助项目
关键词 仿生胸鳍 数学模型 咽颌运动模式 Bionic pectoral fin Mathematical model Labriform mode
分类号 TP156 [自动化与计算机技术—控制理论与控制工程]
  • 相关文献

参考文献19

  • 1SFAKIOTAKIS M, LANE D M , DAVIES J B C. Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Oceanic Engineering, 1999, 24(2): 237-252.
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  • 3LAUDER G V, ANDERSON E J, TANGORRA J L. Fish biorobotics : Kinematics and hydrodynamics of self-propulsion[J]. The Journal of Experimental Biology, 2007, 210(16): 2767-2780.
  • 4TANGORRA J L, LAUDER G V, HUNTER I W, et al. The effect of fin ray flexural rigidity on the propulsive forces generated by a biorobotic fish pectoral fin[J]. The Jounal ofExperimentalBiology, 2010, 213: 4043-4054.
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二级参考文献19

  • 1SFAKIOTAKIS M, LANE D M, DAVIES J B C. Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Oceanic Engineering, 1999, 24(2): 237-252.
  • 2FISH F E, LAUDER G V, MITTAL R, et al. Conceptual design for the construction of a biorobotic AUV based on biological hydrodynamics[C]// International Symposium on Unmanned Untethered Submersible Technology, August24-27, 2003, Durham, New Hampshire, USA University of New Hampshire-Marine Systems Press, 2003: 385-392.
  • 3LAUDER G V, ANDERSON E J, TANGORRA J L. Fish biorobotics: Kinematics and hydrodynamics of self- propulsion[J]. The Journal of Experimental Biology, 2007, 210(16): 2767-2780.
  • 4TANGORRA J L, ESPOSITO C J, LAUDER G V. Biorobotic fins for investigations of fish locomotion[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO. USA: IEEE, 2009: 2120-2125.
  • 5KATO N, LIU Hao, MORIKAWA H. Biology-inspired precision maneuvering of underwater vechicles[C]// International Offshore and Polar Engineering Conference, May 26-31, 2002, Kitakyushu, Japan. USA. ISOPE, 2002: 269-276.
  • 6GIBB A C, JAYNE B C, LAUDER G V. Kinematics of pectoral fin locomotion in the bluegill sunfish lepomis macrochirus[J]. J. Exp. Biol., 1994, 189(1): 133-161.
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  • 9LAUDER G V, DRUCKER E G. Morphology and experimental hydrodynamics of fish fin control surfaces[J]. IEEE Jounal of Oceanic Engineering, 2004, 29(3): 556-571.
  • 10LAUDER G V, MADDEN P G A. Fish locomotion: Kinematics and hydrodynamics of flexible foil-like fins[J] Experiments inFluids, 2007, 43(5): 641-653.

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机械工程学报
2013年 第21期

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