A method to precisely control the c-turning motion of robotic fish
A technology of precise control and robotic fish, applied in the field of bionic robotic fish, can solve problems such as lack of unified kinematic equations, and achieve good propulsion performance and large turning moment
Active Publication Date: 2019-08-06
HOHAI UNIV
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Problems solved by technology
The S-shaped turn pattern is common in fishes of the genus Eelidae, while the C-shaped turn is more common in general fishes. At present, there is no unified kinematic equation for fish C-turns
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[0028] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
[0029] A method for precisely controlling the C-shaped turning movement of a robotic fish according to the present invention comprises the following steps:
[0030] Step 1. Based on the analysis of the attitude curve cluster of the C-turn of the existing bionic robotic fish, the process of the C-turn can be divided into two stages: the contraction stage and the release stage; in the contraction stage, the fish body quickly bends to one side , the surrounding fluid produces a rotational moment that pushes the fish body to turn, so that the fish can turn quickly, the faster the contraction speed, the larger the angle of the C-shaped turn; in the release stage, t...
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The present invention discloses a method for precisely controlling the C-turn movement of a robotic fish. According to the method, analysis is performed on the basis of the posture curve cluster of an existing bionic robot fish C-turn, so that the process of the C-turn can be divided into a contraction phase and a release phase; with the symmetry center of the body of the robotic fish adopted as an object, so that the kinematic equation of the C-turn can be obtained, and the tail movement posture curve of the bionic robot fish at a certain time point is drawn according to the kinematic equation, a posture curve at each time point is obtained by fitting k rigid joints, and the motion control equations of the joints are obtained through numerical approximation and the minimum error method; and therefore, the kinematic equations of the joints provide a kinematic model for research and analysis of the movement posture of the robotic fish, enable the bionic robotic fish to have a rapid turning ability, enable the robotic fish to obtain a higher turning moment, and finally can make the robotic fish have good propulsion performance.
Description
technical field [0001] The invention relates to the technical field of bionic robot fish, in particular to a method for precisely controlling the C-shaped turning motion of the robot fish. Background technique [0002] Although biologists have done a lot of research on the turning patterns of fish, these studies mainly focus on the wake dynamics of fish when turning, and the influence of the shape and structure of tail fin on turning characteristics, etc. Fish make quick turns, which can be divided into S-shaped turns and C-shaped turns according to the curved shape of their bodies. The pattern of S-shaped turns is common in fishes of the genus Eelidae, while C-shaped turns are more common in general fishes. At present, there is no unified kinematic equation for fish C-turns. Contents of the invention [0003] The technical problem to be solved in the present invention is to provide a method for precisely controlling the C-turn motion of the robot fish in view of the abov...
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IPC IPC(8): G05B13/04B63H1/36
CPCB63H1/36G05B13/042
Inventor 娄保东倪羽洁王平
Owner HOHAI UNIV