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模块化仿生波动长鳍水下推进器的设计与实现
王睿; 王硕
Source Publication华中科技大学学报(自然科学版)
2015-10-01
Volume43Issue:SIPages:408-411
Other Abstract
The major research results in areas of propulsion of biomimetic undulating fins were summarized. For its shortcomings, a modular underwater propeller with an undulating fin was designed. The propeller is composed of a main body and a flexible long fin mounted on the bottom of the main body. The long fin consists of twelve fin rays which are connected to one another by a flexible membrane made of thin rubber. Based on the mechanism and the control system that would be showed, a prototype of the propeller was fabricated. The motion parameters including oscillating frequency, oscillating amplitude, number of waves and propagating direction of wave on the long fin can be independently controlled in real time with a program in upper computer. Experiments conducted on the prototype validated the feasibility and stability of the mechanism and control system of the propeller.
 
Keyword控制系统应用 仿生 机器鱼 波动鳍 运动学建模 运动控制 推进器
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21004
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
王睿,王硕. 模块化仿生波动长鳍水下推进器的设计与实现[J]. 华中科技大学学报(自然科学版),2015,43(SI):408-411.
APA 王睿,&王硕.(2015).模块化仿生波动长鳍水下推进器的设计与实现.华中科技大学学报(自然科学版),43(SI),408-411.
MLA 王睿,et al."模块化仿生波动长鳍水下推进器的设计与实现".华中科技大学学报(自然科学版) 43.SI(2015):408-411.
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