Dynamic Modeling of a Flexible Tail Fin for a Robotic Fish

机译：机器鱼柔性尾鳍的动态建模

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摘要

This paper presents the dynamic modelling of a flexible tail fin for a robotic fish.First,in this framework,the flexible tail fin was simply modelled as a rotated beam actuated by a time varying moment.Then,the governing equation of the flexible tail fin was derived by using the Euler-Bernoulli theory.The resistive forces were estimated as a term analogous to viscous damping.Next,the modal analysis method was applied to derive an analytical solution that described a relationship between the applied torque and the lateral movement of the flexible tail fin.Finally,some experiments were carried out to verify the accuracy of the dynamic model.

机译：本文介绍了一种用于机器鱼的柔性尾鳍的动态建模。首先，在此框架中，将柔性尾鳍简单地建模为由时变矩驱动的旋转梁。然后，给出了柔性尾鳍的控制方程。通过使用Euler-Bernoulli理论推导得出。将阻力估算为类似于粘性阻尼的术语。接下来，采用模态分析方法来得出一个解析解，该解析解描述了所施加的扭矩与横向运动之间的关系。最后，通过一些实验验证了该动力学模型的准确性。

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来源
《International conference on mechatronics technology》|2012年|431-436|共6页
会议地点 Tianjin(CN)
作者
Phi Luan Nguyen; Van Phu Do; Byung Ryong Lee;
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作者单位

Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan, Ulsan, Korea;

Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan, Ulsan, Korea;

School of Mechanical Engineering, University of Ulsan, Ulsan, Korea;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
fish robot; flexible tail; dynamic modeling;

机译：鱼机器人;柔性尾翼;动力学建模;

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专利

1. Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin [J] . Phi Luan Nguyen, Van Phu Do, Byung Ryong Lee 仿生工程学报（英文版） . 2013,第001期

机译：柔性尾鳍鱼机器人的动力学建模与实验
2. Dynamic modeling of a flexible oscillating pectoral fin for robotic fish [J] . Shusheng Bi, Hongwei Ma, Yueri Cai, Industrial Robot . 2014,第5期

机译：机器鱼柔性振荡胸鳍的动态建模
3. Dynamic Modeling of Robotic Fish With a Base-Actuated Flexible Tail [J] . Wang Jianxun, McKinley Philip K., Tan Xiaobo Journal of Dynamic Systems, Measurement, and Control . 2015,第1期

机译：具有基座驱动的柔性尾部的机器人鱼的动力学建模
4. Dynamic Modeling of a Flexible Tail Fin for a Robotic Fish [C] . Phi Luan Nguyen, Van Phu Do, Byung Ryong Lee International conference on mechatronics technology . 2012

机译：机器人鱼柔性尾鳍动态建模
5. Kinematics and hydrodynamics of undulatory locomotion in hagfishes (Myxinidae) and hagfish-like robotic models [D] . Lim, Jeanette Li Li 2013

机译：海草（骨髓苷）和豹状机械模型过度运动的运动学和流体动力学
6. Fish and Robots Swimming Together in a Water Tunnel: Robot Color and Tail-Beat Frequency Influence Fish Behavior [O] . Giovanni Polverino, Paul Phamduy, Maurizio Porfiri -1

机译：鱼和机器人在水隧道中一起游泳：机器人的颜色和尾拍频率影响鱼的行为
7. Effects of Tail Fin Flexibility on Propulsive Performance in Small Fish Robots (Investigation by Fluid-Structure Interaction Analysis Considering Elastic Deformation of Tail Fin) [O] . Yogo TAKADA, Ryosuke ARAKI, Toshinori OCHIAI, 2011

机译：尾鳍灵活性对小鱼机器人推进性能的影响（考虑尾鳍弹性变形的流体结构相互作用分析研究）
8. Dynamics, Control and Maneuvering of Large Flexible Space Tethered Reflectors,Tele-Robots and Experimental Models. Part 2 [R] . Bainum, P. M., Feiyue, L., Jianke, X., 1995

机译：大型柔性空间系留反射器，远程机器人和实验模型的动力学，控制和机动。第2部分

Dynamic Modeling of a Flexible Tail Fin for a Robotic Fish

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