机械制造与自动化Issue(1)：166-169,4.DOI:10.19344/j.cnki.issn1671-5276.2018.01.045
基于环形长鳍波动推进的仿生水下机器人设计
Design of Underwater Bionic Robot Based on Annular Long-fin Undulating Propulsion
摘要
Abstract
This paper takes bottom-living stingrays swimming in rajiform as bionic objects to design an underwater bionic robot based on annular long-fin undulating propulsion and on the basis of analyzing its pectoral muscle and skeletal structure,establishes a sim-plified model of the flexible pectoral fin movement,presents an underwater bionic robot design scheme and then,develops a proto-type of the an underwater bionic robot and tests its straight line-tracking,spot turn and dynamic snorkeling movement.Results indi-cate that its swimming velocity can reach 45 mm/s when undulation frequency, pterygiophore angle of swing and unilateral wave number of straight line-tracking are 0.8 Hz,±20° and 1.25 respectively.In addition,if the annular long-fin wave number is 2,velocity for spot turn is able to reach 42.8°/s.The state of the swimming shows that the stability and mobility of the bionic prototype swimming movement depends on the annular long fin.关键词
魟鱼/环形长鳍/波动推进/仿生水下机器人Key words
stingray/annular long-fin/undulating propulsion/underwater bionic robot分类
信息技术与安全科学引用本文复制引用
闫勇程,王扬威,兰博文,赵东标..基于环形长鳍波动推进的仿生水下机器人设计[J].机械制造与自动化,2018,(1):166-169,4.基金项目
江苏省自然科学基金(BK20130796) （BK20130796）
中央高校基本科研业务费专项资金资助研究生创新基地(实验室)开放基金项目(kfjj20150517) （实验室）
