首页|仿生机器蝠鲼动力学建模及试验研究

仿生机器蝠鲼动力学建模及试验研究

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  • 国家科技期刊平台
  • NETL
  • NSTL
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仿生机器蝠鲼独特的胸鳍摆动推进方式更适合风浪干扰环境下长航时水下作业需求,国内外已经开展了相关研究,但目前仿生机器蝠鲼研究中存在驱动能力弱、控制精度低、仿生效果差等问题.文中以蝠鲼为仿生原型,分析其生物学特性和运动机理,构建运动学模型和动力学模型,为仿生机器蝠鲼的系统设计提供了理论依据,设计了机械结构和控制系统,通过模拟波浪干扰环境下的直线前游、原地转弯和动态沉浮等试验,测试了仿生机器蝠鲼在复杂环境下的性能,验证了仿生机器蝠鲼的运动性能和应用前景.
Dynamic Modeling and Experimental Study of Biomimetic Robotic Manta Ray
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.

biomimetic robotic manta raybiological characteristicsmotion performancemechanical structure

陈国军、林羊龙、金俊、陈巍、杨雪

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南京工程学院工业中心,江苏南京, 211167

仿生机器蝠鲼 生物学特征 运动控制 机械结构

国家自然科学基金江苏省农业科技自主创新资金项目浙江省农作物收获装备技术重点实验室开放课题浙江省农作物收获装备技术重点实验室开放课题南京工程学院高等教育研究课题南京工程学院研究生教育教学改革课题

62201249CX2110072021KY032021KY042023GJYB222022YJYJG04

2024

10.11993/j.issn.2096-3920.2023-0107

水下无人系统学报
中国船舶重工集团公司第七〇五研究所

水下无人系统学报

CSTPCD
影响因子：0.251
ISSN：2096-3920
年,卷(期)：2024.32(1)
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