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仿生蓝点魟的结构设计及建模

章永华 何建慧

章永华, 何建慧. 仿生蓝点魟的结构设计及建模[J]. 机械科学与技术, 2012, 31(4): 627-632.
引用本文: 章永华, 何建慧. 仿生蓝点魟的结构设计及建模[J]. 机械科学与技术, 2012, 31(4): 627-632.
Zhang Yong-hua, He Jian-hui. Mechanism Design and Modeling of a Biomimetic Bluespotted Ray[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(4): 627-632.
Citation: Zhang Yong-hua, He Jian-hui. Mechanism Design and Modeling of a Biomimetic Bluespotted Ray[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(4): 627-632.

仿生蓝点魟的结构设计及建模

基金项目: 

浙江省教育厅科研课题(Y201122502)

浙江省高校青年基金项目(#[2010] 175)资助

详细信息
    作者简介:

    章永华(1980-),工程师,博士,研究方向为机电一体化和仿生机器人,yhzhang@tzvtc.com

Mechanism Design and Modeling of a Biomimetic Bluespotted Ray

  • 摘要: 为了研制高机动性和高游动稳定性的水下推进器用于搜救任务、环境监测、资源勘查、军事侦察等,同时考虑到当前螺旋桨推进器对水生生物栖息环境的严重影响,选择了隶属于鳐科鱼类的蓝点魟作为仿生对象,并利用仿生学工程原理,开发出了高性能的仿生机器蓝点魟模型。介绍了活体生物的观察结果,分析了仿生蓝点魟的机构设计原理和方法,建立仿生蓝点魟的坐标系,给出了该坐标系下仿生蓝点魟鳍条摆动及鳍面波动的运动学和动力学方程。实验结果显示:仿生蓝点魟能够实现无半径转弯,游动过程鱼体基本保持稳定的姿态,对周边流体的扰动也非常小。
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出版历程
  • 收稿日期:  2011-03-22
  • 刊出日期:  2015-06-10

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