一种仿海龟扑翼推进机构设计

Design of a new propulsion mechanism of imitation turtle's flapping-wing

基于仿生学原理,分析海龟扑翼运动规律及扑翼推进机理,设计一种新型仿海龟扑翼运动规律的推进机构。该推进机构以凸轮机构和曲柄滑块机构为基础,具体设计了推进机构的几何参数,使推进机构能够逼近海龟扑翼的运动轨迹。以铰链机构为扑翼翻转的驱动机构,建立了该翻转机构的数学模型及优化设计模型,对该铰链翻转机构进行优化设计,逼近海龟扑翼在不同位置处的翻转角度。设计结果表明,该推进机构能模仿海龟扑翼的运动形式,在水下机器人领域具有广阔的应用前景。

Based on the bionics principle,and by analyzing the flapping-wing motion rule of turtles and its propulsion mechanism,a new kind of propulsion mechanism of imitation turtle＇s flapping-wing was designed.This propulsion mechanism is based on the cam and crank-slider mechanism;the geometric parameters of the propulsion mechanism were specifically designed,causing the propulsion mechanism to be very close to the trajectory of the turtle＇s flapping.By taking the hinge mechanism as the drive mechanism of the flapping-wing flip mechanism,a mathematical model of the roll-over mechanism and optimization design model was set up,the design of the roll-over hinge mechanism was optimized,making it close to the flip angle of sea turtle＇s flapping in different locations.Design results show that the designed propulsion mechanism can imitate the movement modes of the sea turtle＇s flapping,and has broad application prospects in the field of underwater robots.