基于行波方程的气球鱼机器人评价

2014 11th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) Pub Date : 2014-05-14 DOI:10.1109/ECTICON.2014.6839795

Masato Haga, M. Uchida

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引用次数: 0

摘要

最近的飞艇机器人已经用类似水生动物器官的部件制成，以便将鱼在水中表现出的出色游泳能力与飞艇机器人在低速和低空飞行时所需的低能耗结合起来。其中一个机器人是气球鱼机器人(BFR)。本文研究了行波推进下BFR推进效率的运动仿真与参数优化。BFR的控制表达式基于行波方程;通过控制力方程和阻力方程定义了运动方程。为了验证仿真的有效性，对BFR的前向风速进行了仿真与实际对比实验。通过测量实验风速、尾翼最大频率和行波，研究了最大推进效率的参数。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Evaluation of Balloon Fish Robot based on traveling wave equation

Recent airship robots have been made with parts similar to aquatic animal organs in order to combine the excellent swimming abilities that fish demonstrate in water with the low energy consumption that airship robots require when flying at low speeds and altitudes. One such robot is the Balloon Fish Robot (BFR). This paper is concerned with, motion simulation and parameter optimization for the BFR's propulsion efficiency, when propelled by traveling wave. Controlling expression of the BFR is based on the traveling wave equation; the equation of motion is defined through controlling and drag force equations. Comparative experiments of the BFR's forward air speed in simulation and practice were implemented to evaluate the validity of simulation. Parameters of the maximum propulsion efficiency were investigated by measuring experimental air speed, maximum frequency of the tail fin, and traveling wave.

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来源期刊

2014 11th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)

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