【摘要】 水下植被修复是治理水体污染、恢复湖泊水体生态环境的重要措施，仿生机械可以替代人工水下作业。对比现有同类仿生海龟的机构特点，设计了一种基于单电机动力输出姿态可调的新型仿生龟模型。虚拟样机仿真实验表明采用该机构能够达到所预期的水下作业姿态调整，实现水下植被的种植与采集功能。该设计结构简单、轻便实用，为湖泊水下植被修复作业提供了新思路。更多还原

【Abstract】 Underwater vegetation restoration is an important measure to control water body pollution and restore the ecological environment of lake water bodies.Bionic machinery can replace artificial underwater operations.Compared the mechanism characteristics of similar bionic turtles, a new bionic turtle model with adjustable postures based on single motor power output was designed.The virtual prototype simulation experiment shows that the mechanism can achieve the expected underwater operation posture adjustment and realize the functions of planting and collecting underwater vegetation.The design is simple, portable and practical, and provides a new idea for the restoration of underwater vegetation in lakes.更多还原