水下无人系统学报2024，Vol.32Issue(1)：40-47,8.DOI:10.11993/j.issn.2096-3920.2023-0107
仿生机器蝠鲼动力学建模及试验研究
Dynamic Modeling and Experimental Study of Biomimetic Robotic Manta Ray
摘要
Abstract
The unique pectoral fin swinging propulsion method of biomimetic robotic manta ray is more suitable for long-term underwater operations in wind and wave environments.Relevant research has been conducted both in China and abroad,but there are problems in the current research on biomimetic robotic manta ray,such as weak driving ability,low control accuracy,and poor biomimetic effects.This article took the natural manta ray as a biomimetic prototype,analyzed its biological characteristics and motion mechanism,and constructed its kinematics and dynamics models,thus providing a theoretical basis for the system design of the biomimetic robotic manta ray.The mechanical structure and control system were also designed.The experiments of straight forward swimming,in situ turning,and dynamic sinking and floating were carried out under simulated wave environments to test the performance of the biomimetic robotic manta ray in complex environments,verifying the motion performance and application prospect of biomimetic robotic manta ray.关键词
仿生机器蝠鲼/生物学特征/运动控制/机械结构Key words
biomimetic robotic manta ray/biological characteristics/motion performance/mechanical structure分类
交通工程引用本文复制引用
陈国军,林羊龙,金俊,陈巍,杨雪..仿生机器蝠鲼动力学建模及试验研究[J].水下无人系统学报,2024,32(1):40-47,8.基金项目
国家自然科学基金(62201249) （62201249）
江苏省农业科技自主创新资金项目(CX(21)1007) （CX(21）
浙江省农作物收获装备技术重点实验室开放课题(2021KY03、2021KY04) （2021KY03、2021KY04）
南京工程学院高等教育研究课题(2023GJYB22) （2023GJYB22）
南京工程学院研究生教育教学改革课题(2022YJYJG04). （2022YJYJG04）
