發(fā)布時間：2018-06-09 06:07

  本文選題：仿海蟹機器人 + 自主游動�。� 參考：《哈爾濱工程大學學報》2017年07期

【摘要】：為了研究兩棲仿生機器人,采用計算流體動力學(CFD)方法對雙游泳足推進仿海蟹機器人自主游動機理進行研究。建立仿海蟹機器人自主游動計算模型,以雙槳協(xié)同步態(tài)為例對游泳足推進的仿海蟹機器人水動力性能進行了模擬,探討了自主游動過程中運動學和力學參數(shù)的時間歷程規(guī)律,分析了游泳足運動參數(shù)對自主游動速度和推進效率的影響,提取了三維流場結構,從渦動力學角度揭示了自主游動過程中水動力的產生機理。搭建了自主游動實驗平臺,針對雙槳協(xié)同步態(tài)和雙槳交錯步態(tài)兩種推進形式進行了對比實驗,驗證了水動力學分析的正確性。
[Abstract]:In order to study amphibious bionic robot, a computational fluid dynamics (CFD) method was used to study the autonomous swimming mechanism of a bionic robot with double swimming feet. In this paper, the hydrodynamic performance of a sea crab robot propelled by swimming foot is simulated by taking the double paddle cooperative gait as an example, and the time history of kinematics and mechanical parameters in the autonomous swimming process is discussed. The effects of swimming foot motion parameters on the autonomous swimming speed and propulsion efficiency were analyzed. The three-dimensional flow field structure was extracted and the mechanism of hydrodynamics in the autonomous swimming process was revealed from the point of view of vorticity dynamics. An experimental platform for autonomous walking was set up, and the hydrodynamic analysis was verified by comparing the two propeller gait and staggered gait.
【作者單位】： 哈爾濱工程大學水下機器人技術重點實驗室;黑龍江工程學院機電工程學院;哈爾濱工程大學機電工程學院;
【基金】：國家自然科學基金項目(51409058,51305088) 基礎研究項目(B2420110014) 黑龍江省博士后基金項目(LBHZ15035) 黑龍江省自然科學基金項目(E2016017,F201205)
【分類號】：TP242.6
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本文編號：1999294