AI 中文总结
研究鳐鱼类运动动力学，开发体液相互作用模型，将身体躯干建模为刚体，胸鳍用张拉整体结构建模，通过改变电缆张力驱动，经模拟示例研究多种因素对游泳性能及鳍运动学的影响。
AI 中文摘要
在鳐鱼游泳中，控制信号和运动学难以通过实验测量，因此体液相互作用模型对于研究其潜在的运动原理至关重要。为应对这一挑战，我们开发了一种适用于神经控制研究和工程设计的鳐鱼式游泳体液相互作用模型。身体躯干被建模为具有六个自由度的刚体。附着在躯干上的柔性胸鳍由张拉整体结构建模，该结构由刚性支柱和弹性电缆组成，类似于生物肌肉骨骼系统。鳍通过改变分布在鳍表面的弹性电缆的张力来驱动，实现可控且逼真的变形。利用解析流体力模型，通过模拟示例对体液相互作用模型进行了验证，分别研究了张力驱动和鳍运动波之间的速度差异、鳍刚度和共振利用对游泳性能的影响，以及不同身体惯性运动导致的不同鳍运动学。
英文摘要
Control signals and kinematics in batoid swimming are difficult to measure experimentally, making body-fluid interaction models essential for studying their underlying locomotion principles. To address this challenge, we developed a body-fluid interaction model of batoid-type swimming that is appropriate for both neural control study and engineering design. The body trunk is modeled as a rigid body with six degrees of freedom. The flexible pectoral fins attached to the trunk are modeled by a tensegrity structure consisting of rigid struts and elastic cables that resembles a biological musculoskeletal system. The fin is actuated by changing the tension of elastic cables distributed across the fin surface, enabling controllable and realistic deformation. Utilizing an analytical fluid force model, the body-fluid interaction model is exercised through simulation examples that respectively investigate the speed difference between tension actuation and fin kinematic waves, the effects of fin stiffness and resonance exploitation on swimming performance, and the different fin kinematics resulting from different body inertial motions.
Comments22 pages, 6 figures
