机器海豚尾鳍运动模型的建立及仿真

以海豚背腹式摆动推进方程为基础,应用坐标变换的方法,建立了描述海豚尾鳍俯仰--沉浮运动的数学模型,同时建立了描述豚尾各运动参数之间关系的方程,随后运用Matlab的仿真功能再现了海豚在游动过程中尾鳍的运动规律.该模型可用于定性描述运动参数对海豚推进性能的影响,为进一步研究豚尾动力学提供了理论基础,同时也为机器海豚尾鳍的控制设计提供了理论依据.

Modeling and simulation for caudal fin motion of dolphin robot

On the basis of propulsive model, a mathematical model which is used to describe the motion of pitching and heaving of dolphin's caudal fin by ways of coordinate transformation is deduced. Meanwhile, this model can show the relationship between the motion of caudal fin and parameters related, then the motion of caudal fin of dolphin is simulated by the software of Matlab which showed the swimming principle. It is believable that this model will be useful for the design of caudal fin machine of robot dolphin...