本文選題：仿海蟹機(jī)器人 + 自主游動(dòng)��； 參考：《哈爾濱工程大學(xué)學(xué)報(bào)》2017年07期

【摘要】：為了研究?jī)蓷律鷻C(jī)器人,采用計(jì)算流體動(dòng)力學(xué)(CFD)方法對(duì)雙游泳足推進(jìn)仿海蟹機(jī)器人自主游動(dòng)機(jī)理進(jìn)行研究。建立仿海蟹機(jī)器人自主游動(dòng)計(jì)算模型,以雙槳協(xié)同步態(tài)為例對(duì)游泳足推進(jìn)的仿海蟹機(jī)器人水動(dòng)力性能進(jìn)行了模擬,探討了自主游動(dòng)過(guò)程中運(yùn)動(dòng)學(xué)和力學(xué)參數(shù)的時(shí)間歷程規(guī)律,分析了游泳足運(yùn)動(dòng)參數(shù)對(duì)自主游動(dòng)速度和推進(jìn)效率的影響,提取了三維流場(chǎng)結(jié)構(gòu),從渦動(dòng)力學(xué)角度揭示了自主游動(dòng)過(guò)程中水動(dòng)力的產(chǎn)生機(jī)理。搭建了自主游動(dòng)實(shí)驗(yàn)平臺(tái),針對(duì)雙槳協(xié)同步態(tài)和雙槳交錯(cuò)步態(tài)兩種推進(jìn)形式進(jìn)行了對(duì)比實(shí)驗(yàn),驗(yàn)證了水動(dòng)力學(xué)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(xué)水下機(jī)器人技術(shù)重點(diǎn)實(shí)驗(yàn)室;黑龍江工程學(xué)院機(jī)電工程學(xué)院;哈爾濱工程大學(xué)機(jī)電工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51409058,51305088) 基礎(chǔ)研究項(xiàng)目(B2420110014) 黑龍江省博士后基金項(xiàng)目(LBHZ15035) 黑龍江省自然科學(xué)基金項(xiàng)目(E2016017,F201205)
【分類(lèi)號(hào)】：TP242.6
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本文編號(hào)：1999294