摘要
针对现阶段MPF波动推进模式仿生机器人在体积、灵活度、运动性能等方面研究较少的问题,设计出了一种仿生海扁虫水下机器人。该机器人使用了一种无急回特性的曲柄摇杆机构作为动力传输零件,通过可传动柔性骨架实现动力的传输,带动鳍条往复摆动,形成稳定的波形推动机器人前进。进一步,通过对曲柄摇杆机构的理论计算和尺寸设计得出实际模型,运用SolidWorks Motion运动仿真进行无急回特性的验证。最后,通过3D打印件等材料制作仿生海扁虫机器人样机,进行水下运动试验,以此验证该设计可行性,在有效减小机器人体积和自身质量的同时,具有更佳的运动性能。
In response to the problem that researches in aspect of the MPF propulsive mode bionic robots are inadequate in volume,weight,kinematics performance and so on,a kind of bionic flatworm underwater robot is designed.The robot uses a crank rocker mechanism with no quick-return characteristics as the component of power transmission,and realizes power transmission through the flexible skeleton,which drives the fin reciprocate swing,forming a stable waveform to push the robot forward.The flexible skeleton can be driven by a plurality of crank rocker sub-mechanisms.Furthermore,the actual model is obtained by theoretical calculation and dimension design of crank rocker mechanism.The SolidWorks Motion simulation is used to verify the no quick-return characteristics.Finally,the prototype of the bionic flatworm is made through 3D printing materials and other materials,and the underwater motion test is carried out to verify the feasibility of this mechanism,which effectively reduce the volume and weight of the robot as well as have a better kinematics performance.
作者
刘长红
吴博淳
黄锦山
苏杰锋
温嘉文
陈思霖
LIU Changhong;WU Bochun;HUANG Jinshan;SU Jiefeng;WEN Jiawen;CHEN Silin(School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006;School of Electronics and Commuication Engineering,Guangzhou University,Guangzhou 510006)
出处
《机械设计》
CSCD
北大核心
2024年第S01期27-31,共5页
Journal of Machine Design
基金
国家级大学生创新创业训练计划(202211078115)
2023年广东大学生科技创新培育专项资金重点项目(pdjh2023a0404)
关键词
仿生海扁虫
无急回特性
曲柄摇杆
MPF波动推进
运动性能
bionic flatworm
no quick-return characteristics
crank rocker
MPF-wave propulsion
kinematics performance
