| 两栖仿生机器鱼Ⅰ的建模及推进机构设计 |
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| 引用本文： | 王卫兵,喻俊志,成斌,黄中文,葛云. 两栖仿生机器鱼Ⅰ的建模及推进机构设计[J]. 石河子大学学报(自然科学版), 2009, 27(1) |
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| 作者姓名： | 王卫兵 喻俊志 成斌 黄中文 葛云 |
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| 作者单位： | [1]石河子大学机械电气工程学院,新疆石河子832003 [2]中国科学院自动化研究所复杂系统与智能科学重点实验室,北京100080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 仿生机器鱼技术为研发高效、高机动性和低噪声的水下运载器提供了一种方法.受两栖动物启发,完成了一种多模态仿生两栖机器鱼I的设计,并成功试制了样机.该两栖机器鱼能巧妙地利用转体机构实现仿鱼和仿海豚游动的结合,实现了二种运动模态的自由切换,其鳍肢/轮桨机构的引入不仅能使机器鱼在地面爬行或仿轮式运动,而且提高了水中运动的机动性.
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| 关 键 词： | 两栖机器鱼 仿生推进 机构设计 多模态 |
Mechanism Design of a Multi-mode Biomimetic Amphibious Robofish |
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| WANG Wei-bing,YU Jun-zhi,CHENG Bin,HUANG Zhong-wen,GE Yun. Mechanism Design of a Multi-mode Biomimetic Amphibious Robofish[J]. Journal of Shihezi University(Natural Science), 2009, 27(1) |
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| Authors: | WANG Wei-bing YU Jun-zhi CHENG Bin HUANG Zhong-wen GE Yun |
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| Affiliation: | 1 College of Mechanical and Electrical Engineering;Shihezi University;Shihezi;Xinjiang 832003;China;2 Key Laboratory of Complex Systems and Intelligent Science;Institute of Automation;Chinese Academy of Science;Beijing 100080;China |
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| Abstract: | The biomimetic robofish technology provides a new train for inventing the underwater vehicles with high efficiency,high maneuverability and low noise.This paper addresses the design scheme of a multi-mode amphibious biomimetic robofish inspired by amphibians,as well as preliminary development of the robotic prototype.The robofish is capable of both fish-like and dolphin-like swimming under water,in which a swivelling body device is responsible to swithch between them.Meanwhile,for ground-based movements,the... |
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| Keywords: | amphibious robofish bio-inspired propulsion mechanical design multi-mode |
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