| 海龟水翼运动模型及仿生推进机构研究 |
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| 引用本文： | 储定慧,张铭钧,刘晓白.海龟水翼运动模型及仿生推进机构研究[J].哈尔滨工程大学学报,2008,29(3):285-289. |
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| 作者姓名： | 储定慧 张铭钧 刘晓白 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 哈尔滨工程大学基础研究基金资助项目(HEUF040134) |
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| 摘 要： | 针对海龟水翼运动的特点,进行了仿水翼推进系统的研究.基于水翼运动的抽象分析,建立了二自由度水翼运动模型,描述了水翼运动典型状态下的翼态特征.设计了仿生运动机构,分析了其运动学特性,为优化仿生推进机构的设计与控制提供了依据.基于PC104和DSP构建了仿生机构的控制系统,实现了运动控制器的模块化设计.搭建了单肢运动实验平台,从功能仿生角度实现了水翼运动,试验验证了仿水翼机构运动的可行性和控制系统的有效性,丰富了水下推进理论.
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| 关 键 词： | 仿生运动机理 水翼模型 翼态特征 控制系统 |
| 文章编号： | 1006-7043（2008）03-0285-05 |
| 收稿时间： | 2007-07-10 |
| 修稿时间： | 2007年7月10日 |
Modeling propulsive motions of turtles and simulating hem with a bionic mechanism |
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| CHU Ding-hui,ZHANG Ming-jun,LIU Xiao-bai.Modeling propulsive motions of turtles and simulating hem with a bionic mechanism[J].Journal of Harbin Engineering University,2008,29(3):285-289. |
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| Authors: | CHU Ding-hui ZHANG Ming-jun LIU Xiao-bai |
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| Abstract: | A hydrofoil bio-mechanism was developed to simulate propulsion characteristics of the flippers of marine turtles.Following technical analysis of hydrofoil motion,a two-degree-of-freedom model of hydrofoil motion was established.Then characteristics of hydrofoils in typical motion were analyzed.A propulsive bio-mechanism was then designed,and its kinematic features analyzed,laying a foundation for optimal design and control of the mechanism.The control system was based on PC104 and digital signal processing(DSP),with a modular design for the corresponding motion controller.Finally,an experimental platform for testing movement of a single limb was developed,on which hydrofoil motion could be achieved through bionic functionality.The experimental results prove the feasibility of the proposed bio-mechanism and its control system. |
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| Keywords: | bionic motion principle hydrofoil model hydrofoil configuration control system |
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