【作者】 危常明； 喻俊志；

【Author】 WEI Changming,YU Junzhi Laboratory of Complex Systems and Intelligence Science,Institute of Automation Chinese Academy of Sciences,Beijing 100190,P.R.China

【机构】 中国科学院自动化研究所复杂系统与智能科学实验室；

【摘要】 受生物海豚高机动性、高灵活性运动的启发,研发了一种基于形体和运动仿生的机器海豚。机器海豚由流线型头部、转弯机构、背腹式波动机构和尾部四部分组成。采用流线型躯体,逼真的背鳍、胸鳍和尾鳍来模仿生物海豚流线型的外形,采用鲸豚类特有的尾鳍上下拍动驱动方式来实现前向推进,采用三自由度鳍肢来实现上升下潜运动和制动,以及一套独立的转弯机构来实现机器海豚的转向。作为仿生机器人的一个研究新方向,机器海豚具有水下游动高效率、高机动性、低噪声等优点,可以作为未来水下侦察、环境监控的一种移动载体。更多还原

【Abstract】 Inspired by the characteristics of high maneuverability and agility of live dolphins,a novel robotic dolphin based on both morphology and locomotion bio-mimicry is developed.The robotic dolphin consists of four main components involving a streamlined head,a turning unit,a dorsoventral undulatory structure,and a tail fluke.The streamlined body in conjunction with a vivid dorsal fin,pectoral fins,and a caudal fin serves for morphology mimicry.Meanwhile,vertical fluke oscillations is designed for dolphin-like movements and a pair of 3-DOF(degree of freedom) flippers for up-and-down motions and braking. In particular,a set of separate turning unit is adopted to fulfil lateral turns.As a new research direction of bio-inspired robots, the dolphin robots with high efficiency,high maneuverability,and low noise will server as a mobile platform for underwater reconnaissance and environmental monitoring.更多还原