CAJ | 학술논문

为制定多鳍机器鱼各驱动部件的运动控制规则，提高机器鱼行进速度，应用ADAMS建立多鳍机器鱼运动学仿真模型，分析机器鱼尾部摆动角度、摆动频率对机器鱼行进速度的影响规律，确定了尾部最佳摆动频率为1.2 Hz；分析机器鱼胸鳍、背鳍、腹鳍及尾部的相对运动方向对机器鱼行进速度的影响规律，确定了机器鱼各驱动部件间的协调运动规则。
위제정다기궤기어각구동부건적운동공제규칙，제고궤기어행진속도，응용ADAMS건립다기궤기어운동학방진모형，분석궤기어미부파동각도、파동빈솔대궤기어행진속도적영향규률，학정료미부최가파동빈솔위1.2 Hz；분석궤기어흉기、배기、복기급미부적상대운동방향대궤기어행진속도적영향규률，학정료궤기어각구동부건간적협조운동규칙。
In order to make motion control rules for multi fin robo-fish driver unit,and to improve the robo-fish traveling speed, the multi fin robo-fish kinematics simulation model was established with ADAMS,the influences of robo-fish fishtail department swing angle and swing frequency to the robo-fish traveling speed were analyzed.The determined fishtail best swing frequency was 1.2 Hz. The influences of the relative motion directions of pectoral fin,dorsal fin,ventral fin and fishtail to the robo-fish traveling speed were analyzed.The coordinated movement rules for the robo-fish each driver unit were determined.