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首页> 外文期刊>International Journal of Science and Qualitative Analysis >Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure
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Modeling of Bio-inspired Thunnus Albacares and Inchworm-gammarus with Micro Actuators in One Structure

机译：在一个结构中用微致动器对生物启发的金枪鱼Albacares和Inchworm-γammarus进行建模

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Biomimetic robots have attracted many researches around the world and also living creatures are the best models in biomimetic robotic engineering design. This paper is the combination of three creatures such as tuna, inchworm, gammarus. They are used in order for shortcoming of unrealized multi-functionality. Hence, this paper describes a robot based on the most optimal possible in its field. The dynamic modeling of a flexible tail in the proposed robot are mentioned in detail. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff’s equations of motion for rigid bodies in quiescent fluids. The tail vibration is modeled using Euler–Bernoulli beam Theory. Such methods could be a prospect approach for further research in the field of underwater robots.
机译：仿生机器人吸引了全世界许多研究，而且生物也是仿生机器人工程设计中最好的模型。本文是金枪鱼，尺inch，伽马鲁斯这三种生物的组合。使用它们是为了弥补未实现的多功能性的缺点。因此，本文描述了一种基于其领域内尽可能最佳的机器人。详细提到了所提出的机器人中柔性尾巴的动态建模。机器鱼由两根通过致动接头连接的连杆组成;前面的连杆是刚性的，可以充当机器鱼的身体，而后面的连杆则可以充当尾巴。后者包括连接至柔性尾鳍的刚性元件，其水下振动负责推进。使用基尔霍夫的静态流体中的刚体运动方程来描述前连杆的动力学。使用欧拉-伯努利梁理论对尾部振动进行建模。这种方法可能是在水下机器人领域进行进一步研究的有前途的方法。

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