一种水下探测机器海豚设计  

Design of an Underwater Reconnaissance Robotic Dolphin

作　　者：吴浩然 刘雅雯 肖力 WU Hao-ran;LIU Ya-wen;XIAO Li(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou 412007,China)

机构地区：[1]湖南工业大学机械工程学院,株洲412007

出　　处：《价值工程》2023年第15期122-124,共3页Value Engineering

基　　金：2022年湖南省大学生创新创业训练计划项目——新型仿生机器海豚设计及其运动仿真分析。

摘　　要：本文以自然界海豚为原型,通过仿生设计一款机器海豚,设计的海豚可以在复杂危险的环境中巡航,依靠自身携带的摄像头和各种传感器对周围环境进行实时监测,应用于探索、调研以及保护鱼群等诸多领域.通过以模块化设计的思想将机器海豚分为五部分:头部机构、尾部正弦推进机构、重心调节机构、胸鳍机构以及尾部辅助机构,并通过对转向机构以及重心调节机构的设计,实现机器海豚的转向运动和仰俯运动,以适应机器海豚在未知的海洋领域进行探索任务.This paper takes the dolphin in nature as the prototype,and designs a robotic dolphin through bionics,which can cruise in complex and dangerous environments,relying on its own cameras and various sensors to monitor the surrounding environment in real time,which is used in exploration,reconnaissance and fish protection and many other fields.By the idea of modular design,the robot dolphin is divided into five parts:head mechanism,tail sinusoidal propulsion mechanism,center of gravity adjustment mechanism,pectoral fin mechanism and tail auxiliary mechanism,and through the design of the steering mechanism and center of gravity adjustment mechanism,the steering movement and pitch movement of the robot dolphin are realized to adapt to the exploration task of the robot dolphin in the unknown marine domain.

关 键 词：仿生 机器海豚 模块化设计 转向运动 仰俯运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]