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首页> 外文会议>IEEE Internationa Conference on Real-time Computing and Robotics >Design and research of a novel caudal-fin propulsion mechanism with two degrees of freedom
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Design and research of a novel caudal-fin propulsion mechanism with two degrees of freedom

机译：具有两个自由度的新型尾鳍推进机构的设计与研究

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摘要

In order to avoid the reciprocating reversal of the motor in the propulsion mechanism leading to the lower electric drive efficiency, and realize the various functions of the caudal fins. This article presents a novel caudal-fin propulsion mechanism with 2-DOF for bionic robotic fish. The robotic fish based on the propulsion mechanism could achieve straight swimming, flexible turning, floating and diving movement without the other auxiliary devices. Firstly, mechanism design will be mentioned in detail. Then, kinematics principle and control strategies of the robotic fish are established on base of motion simulation. In addition, experiments of straight swimming and turning were carried out with unmanned aerial photography in outdoor pond. The results show that robotic fish used the 2-DOF caudal-fin propulsion mechanism could achieve various basic swimming action with its caudal fins, which provides a new reference method for the design of robotic fish.
机译：为了避免电动机在推进机构中的往复运动而导致较低的电驱动效率，并实现了尾鳍的各种功能。本文提出了一种新型的仿生机器人鱼的带有2-DOF的尾鳍推进机制。基于推进机制的机器鱼无需其他辅助设备即可实现直线游泳，灵活的转向，漂浮和潜水运动。首先，将详细介绍机构设计。然后，在运动仿真的基础上，建立了机器鱼的运动学原理和控制策略。另外，在室外池塘进行无人航拍的直泳和转弯实验。结果表明，采用2-DOF尾鳍推进机构的机鱼可以通过其尾鳍实现多种基本的游泳动作，为机鱼的设计提供了新的参考方法。

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