仿生扑翼UUV推进机构设计及运动仿真

摘要

针对仿生扑翼UUV所使用的推进机构进行设计研究,在对海龟前肢运动模式分析的基础上,设计了一套二自由度仿生扑翼推进机构,该机构由两个电机分别驱动扑翼模型上下拍水及绕翼轴自身翻转,两个电机转动相互结合可以近似实现海龟前肢扑翼运动模式。对所设计推进机构进行三维建模及虚拟装配,并对其进行了运动仿真,给出了两种驱动模式下扑翼运动过程的姿态及相应的角速度和角加速度。%In this paper,the propulsion mechanism used by a flapping-foil UUV（Unmanned Underwater Vehicle） is studied.On the basis of analysing the forelimb movement patterns of turtles,a flapping-foil propulsion mechanism with two degrees of freedom is put forward,which can approximately achieve the forelimb movement patterns of turtles： fluttering up and down and overturning the wing itself,by combining its two motors′ rotating.The three-dimensional modeling and virtual assembly of the propulsion mechanism has been implemented.The kinematics simulation of the 3D assembled model has also been implemented,and the posture,the corresponding angular velocity and angular acceleration of flapping foil movement in two drive modes are given.