仿海蟹机器人自主游动性能研究

发布时间：2018-06-09 06:07

  本文选题：仿海蟹机器人 + 自主游动　； 参考：《哈尔滨工程大学学报》2017年07期

【摘要】：为了研究两栖仿生机器人,采用计算流体动力学(CFD)方法对双游泳足推进仿海蟹机器人自主游动机理进行研究。建立仿海蟹机器人自主游动计算模型,以双桨协同步态为例对游泳足推进的仿海蟹机器人水动力性能进行了模拟,探讨了自主游动过程中运动学和力学参数的时间历程规律,分析了游泳足运动参数对自主游动速度和推进效率的影响,提取了三维流场结构,从涡动力学角度揭示了自主游动过程中水动力的产生机理。搭建了自主游动实验平台,针对双桨协同步态和双桨交错步态两种推进形式进行了对比实验,验证了水动力学分析的正确性。
[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.
【作者单位】： 哈尔滨工程大学水下机器人技术重点实验室;黑龙江工程学院机电工程学院;哈尔滨工程大学机电工程学院;
【基金】：国家自然科学基金项目(51409058,51305088) 基础研究项目(B2420110014) 黑龙江省博士后基金项目(LBHZ15035) 黑龙江省自然科学基金项目(E2016017,F201205)
【分类号】：TP242.6
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本文编号：1999294