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ID:52932871
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页数:13页
时间:2020-04-02
《仿生水下机器人技术研究综述.pdf》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、ӓ⫳∈ϟᴎ఼Ҏᡔᴃⷨお㓐䗄ಋॿюںμܑඟߞӝρ˄䰆⾥ᄺᡔᴃᄺᴎ⬉ᎹϢ㞾ࡼ࣪ᄺ䰶ˈफ䭓≭410073˅ᨬ㽕˖·ำຕࠚॴဨफဓՎԅࠩ੦ಓူఆ୶ဨҶωŃԤඋރफד୶ఆ०ੋᆘ೭ॴڑؤయԅႺ೬ޏఆ୶ຏഃಓၟᄥճನලŃႺࠩࡎཙԅఆ୶ຏഃಓෳઝڳߏޏ೬ࠩॴŃᆫ܊ຏഃಓॴד୶ఆޏ೬ԅဈÇ݇䬂䆡˖ಓŃഃຏڑŃ੦ࠩŃ೭ᆘŃఆ୶ߏޏ೬SurveyonTechnologiesofBiomimeticUnderwaterVehiclesSHENLinchengˈXIEHaibinˈHUTianjiangˈZ
2、HANGDaibing(Biomimetics&IntelligentRoboticsCenter,CollegeofMechatronicEngineeringandAutomation,NationalUniversityofDefenseTechnology,Changsha410073,China)Abstract:Thepapermakesasurveyonthekeytechnologiesofbiomimeticunderwatervehicles.Firstofall,thefishswimmingmod
3、es,bodyand/orcaudalfin(BCF)aswellasmedianand/orpairedfin(MPF),arepresented,followingthewell-establishedclassificationschemeandnomenclature.Furthermore,theresearchprogresswiththefocusonachievedprototypesisreviewed,intermsoftheclassificationonfish-likerobotsandbio-
4、inspiredvehicles.Significantly,keytechnologiesofbiomimeticunderwatervehinclesarecomprehensivelyanalyzed.Finally,thefutureinbiomimeticunderwatervehicles’practicalapplicationsisalsoproposed.Keywords:BiomimeticsĢUnderwaterVehicles;Survey;Swimmingmode;Keytechniques;
5、㋶ᮄൟ∈ϟ䖯఼Ꮖ៤Ў⾥ⷨҎਬ䖢1ǃᓩ㿔⍋⋟ᮄᣥⱘᮄᗱ䏃DŽ⍋⋟ϡҙ㭈㮣ⴔ䞣ⱘⷓѻ䌘⑤⠽剐㉏㒣䖛᭄ⱒϛᑈⱘ㞾✊ⓨ࣪ϢӬ࣪⾡䌘⑤ˈ㗠Ϩᰃ䞡㽕ⱘ䖤䕧䗮䘧џ⬹䗝ᢽˈ㦋ᕫњ催ᬜⱘ␌ࡼ㛑ᇍ⡍ᅮ∈⦃ぎ䯈DŽ㞾ᴀϪ㑾ҹᴹˈབԩ㦋ᕫ⍋⋟ঞⒼ⍋๗ⱘ催ᑺ䗖ᑨᗻˈ݊䖯ᓣ䖯ᴎᵘሑഄऎⱘᡔᴃӬџӬ䗤⏤៤Ў䰆ㅵᖙ᳔ӬˈԚϢ㶎ᮟḼㄝ⦄᳝ᐌ㾘䖯ᮍᅝܼ䰆ᕵ䯂乬ϧᆊ䰆⾥ⷨҎਬ݇⊼ⱘᓣⳌ↨ˈ䖯ᬜ⥛ǃᴎࡼᗻ䖤ࡼ〇ᅮᗻ[1-3]⛺⚍DŽ∈ϟᴎ఼Ҏ⍋⋟⦃๗ⷨおǃ⍋ㄝᮍ䴶ᰒ⼎ߎᯢᰒӬˈЎҎ䗴∈ϟ㟾㸠఼⋟ⷓѻࢬㄝ⇥⫼乚ඳ
6、⍋⋟џ⬹ᮍ᠔᮴⊩↨ᢳDŽᅗӀ␌ࡼᯊ᠔᳝ⱘ␌ࡼሒ䗍䴶᳝ᑓ䯨ⱘᑨ⫼ࠡ᱃Ꮌⱘ┰Ӌؐˈᇥǃ催ᑺ䗖ᑨᴖ∈⦃๗ㄝ⡍⚍ˈᇍᬍ䖯⦄ᓩњҎӀⱘ⊼ᛣDŽ᳝∈ϟ㟾㸠఼ⱘ䖯ᗻ㛑ⷨࠊ〇ᅮǃ催Ў∈ϟᴎ఼Ҏⱘ݇䬂ᡔᴃПϔˈ∈ϟᬜǃᴎࡼǃ䱤㬑ⱘᮄൟ∈ϟ䖯఼᳝ⴔ䞡㽕䖯ᡔᴃϔⳈҹᴹ䛑ᰃݙⳌ݇ⷨおᴎ[4-8]ⱘਃথ⫼DŽ㞾20Ϫ㑾ҹᴹˈ䆌⫳⠽ᵘⱘ݇⊼䞡⚍DŽ㶎ᮟḼᰃӴ㒳ⱘ∈ϟ䖯ᄺᆊᎹᡔᴃҎਬЏᓴᇚ剐㉏催䍙ᡔ఼ˈ㛑Ⳉ⬅㪌≑ᴎǃݙ➗ᴎ⬉ࡼᴎㄝ㛑ᓩܹࠄҎ䗴㺙㕂ⱘ䆒䅵ঞᬍ䖯ПЁˈℸᮟ䕀ࡼᴎẄ偅ࡼˈ᳝㒧ᵘㅔऩǃ䖯䗳
7、剐㉏ᄺдⱘ∈ϟӓ⫳䖯ᡔᴃᑨ䖤㗠⫳DŽᑺ催ǃᆚᇕᗻདㄝӬ⚍ˈЎ⾡∈ϟ㟾㸠఼䖭ѯᎹϔᮍ䴶䆩ᧁ⼎剐㉏␌ࡼⱘݙ᠔ᑓ⊯ᑨ⫼DŽ䖥ѯᑈᴹˈ⍋⋟䌘⑤ᓔথǃ⏅[6,9-18]ᴎࠊˈҹ㦋পӓ⫳ᄺਃ⼎˗ϔᮍ䴶ⷨ⍋⠽⾡ⷨおǃ⍋ᑩ㒧ᵘࢬǃџ∈ϟպᆳࠊӓ⫳䖯ॳൟ㋏㒳ˈ᮶ᇍӓ⫳ᄺਃ⼎䖯㸠ㄝЎ∈ϟᴎ఼Ҏⷨおᦤկњᮄᴎ䘛ᮄᣥ䆩偠偠䆕ˈгᇱ䆩ⴔᇚӓ⫳㋏㒳ᡩܹᅲ䰙ᑨˈ݊݇⊼⛺⚍ᏆҢᎵ㟾䗳ᑺ䕀⿏ࠄᴖ⍋[19-26]⫼DŽ⡍߿ᰃ20Ϫ㑾90ᑈҷҹৢˈ䱣ⴔඳᴵӊϟ㞾⊏ᗻǃ〇ᅮᗻ䱤㬑ᗻㄝᮍ䴶ӓ⫳ᡔᴃǃ䅵ㅫᴎᡔᴃǃࠊᡔᴃᴤ᭭ᡔ[1,3]DŽ↨བ
8、ˈ⏅⍋⠽⾡পḋᴎ఼Ҏ㽕∖䖯ᴃⱘথሩˈЎӓ⫳∈ϟᴎ఼Ҏࠊⱘ⧚䆎఼᳝⌕ԧᡄࡼᇣǃ〇ᅮᗻདǃ䖯ᬜ⥛催ᮍ⊩ǃࡼॳ⧚ǃ㋏㒳ᵘ៤ᅲ⦄ǃࠊㅫㄝ⡍ᗻDŽ䡈ѢӴ㒳∈ϟ䖯఼ⱘࡳ㛑䰤ࠊˈ⊩ㄝᮍ䴶ⱘⷨおᦤկњᔎ᳝ⱘᬃᣕˈᮄൟ-1-ӓ⫳∈ϟᴎ఼Ҏⱘⷨお៤ЎⳂࠡ∈ϟᴎ఼䑿ԧሒ务˄BCFᓣ˅䖤ࡼѻ⫳DŽԚ[27-29]Ҏⷨ
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