基于连杆机构综合的水下仿生推进装置设计

Design of Underwater Biomimetic Propulsion Device Based on Synthesis of Four-Bar Linkage

海洋动物在长期的进化过程中形成了高超的游泳能力,科学家和工程师希望通过对海洋动物的运动机理分析研发新型的高性能仿生推进装置。本文利用海龟扑翼运动的机理,设计一种基于四杆机构的仿海龟推进装置,并进行了运动分析。通过对海龟的扑翼运动进行分析,获取了海龟水翼在游动过程中的运动规律;运用机构综合的轨迹创成和刚体导引方法,设计了四连杆机构,使固连在连杆上的翼片能够近似实现海龟水翼的运动轨迹和姿态。文中计算了该机构的运动轨迹、姿态和角速度等运动参数,进行了机构的运动学仿真,该研究对于仿海龟推进装置设计和分析有借鉴意义。

Most of marine animals have acquired strong swimming abilities as speed,maneuverability and efficiency in their long evolution history.Lots of scientists and engineers hope to create more powerful biomimetic propulsion devices inspired by the locomotive mechanism of these marine animals.In this paper,based on the simulation of turtle′s swimming mode,synthesis of linkage is applied to design a biomimetic propulsion mechanism of four-bar linkage and kinematic analysis is also given in this study.Firstly the motion analysis of flapping fins of turtle based on lift mode is summarized and the positions and orientations of fore-fin are obtained.By the trajectory generation and rigid body guidance method,the four-bar linkage is designed to fulfill the motion rules of fins of turtle approximately.The simulation of the linkage is given and the trajectory,attitude and angular velocity of fin in the linkage are calculated.This study is useful for the design and analysis of simple and reliable biomimetic propulsion mechanism.