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基于仿生学原理,分析海龟扑翼运动规律及扑翼推进机理,设计一种新型仿海龟扑翼运动规律的推进机构。该推进机构以凸轮机构和曲柄滑块机构为基础,具体设计了推进机构的几何参数,使推进机构能够逼近海龟扑翼的运动轨迹。以铰链机构为扑翼翻转的驱动机构,建立了该翻转机构的数学模型及优化设计模型,对该铰链翻转机构进行优化设计,逼近海龟扑翼在不同位置处的翻转角度。设计结果表明,该推进机构能模仿海龟扑翼的运动形式,在水下机器人领域具有广阔的应用前景。
Based on the principle of bionics, the law of movement of flapping wing flapping wing and the mechanism of flapping wing are analyzed, and a new advancing mechanism of flapping wing flapping wing motion is designed. Based on the cam mechanism and the crank-slider mechanism, the propulsion mechanism specifically designed the geometric parameters of the propulsion mechanism so as to enable the propulsion mechanism to approach the trajectory of the turtle flapping wing. The hinge mechanism is used as the driving mechanism to flutter flaps, and the mathematical model and optimization design model of the turning mechanism are established. The hinge mechanism is optimized to approximate the turning angle of turtle flapping wings at different positions. The design results show that the propulsion mechanism can imitate the movement form of sea turtle flapping wing and has broad application prospects in the field of underwater robots.