仿生水下机器人传动机构的设计与仿真  

The Design and Simulation of a Bionic Underwater Robot Transmission Mechanism

作　　者：樊炳辉[1] 孟乐[1] 闫照东[1] 赵建建[1] 

机构地区：[1]山东科技大学机器人研究中心,山东青岛266590

出　　处：《机械设计与制造》2014年第10期161-164,共4页Machinery Design & Manufacture

摘　　要：参照鱼类的外形特点对仿生水下机器人进行了设计和建模,同时根据鱼类推进鳍的特点研发出一种全新、节能、高效的推进装置;运用具有急回运动特性的曲柄摇杆机构将舵机的连续转动转换为推进鳍的前后摆动;结合现代虚拟样机设计技术进行本仿生水下机器人的设计研发:利用Matlab技术对曲柄摇杆机构进行优化分析和设计,运用Adams对曲柄摇杆机构进行运动分析,同时验证了基于Matlab优化设计的结果;目前,已经将仿生水下机器人加工组装完毕,同时完成了下水试验,证实了前期设计的合理性。Abstract-h designs and models a bionic underwater robot fin part refer to the shape characteristics of tuna fish and develops a new, energy-saving and efficient propulsion system according to the characteristics of the Jin fizh propulsion;uses the crank-rocker mechanism with the characteristics of fast-returning movement to convert the continuous rotation of the steering gear to promote fin swaying back and forth;develops and designs the bionic underwater robot combined with the modern virtual prototype design technology. By using the Matlab to analyze and design the crank -rocker mechanism,using the Adams to analyze crank-racker mechanism and verify the result of optimization design based on Matlab. At present, h has processed and assembled the bionic underwater robot; after launching experiment,h confirmes the rationality of the preliminary design.

关 键 词：仿生水下机器人 曲柄摇杆机构 MATLAB优化设计 Adams运动分析 

分 类 号：TH16[机械工程—机械制造及自动化]