Design And Research On 2D-motion Mechanism Of Bio-inspired Robotic Fin Ray

Because of the well performance at the aspect of energy loss and the maneuverability underwater,the bionic robotic fish has great value for enhancing the strength of the Navy and improving the ability of marine resources exploration.In this paper,a motion mechanism which can realize the 2D-motion of bionic fin-ray is designed,that would improve the motion ability of bionic undulating fin of MPF bionic robotic fish.Dissertation to complete the work are follows:(1)Established the model of fin-fin motion in space in the respect of bionic.First,the internal mechanism and the movement principle of the Nile devil fish dorsal muscle is explored,and the fundamental reason of the two dimensional motion of the fin is revealed.Then,the mathematical model of the position and attitude of fin-ray at any time is established by the coordinate transformation method and the corresponding mathematical model is simulated by the Matlab.(2)Designed the robotic fin-ray 2D-motion mechanism by TRIZ.This paper introduced the inventive problem solving method-TRIZ to conduct the whole design flow.In the first,the nature characteristics of the two dimensional motion are summarized,and the internal contradictions of the two dimensional motion are demonstrated,the theory model of two dimensional motion mechanism is constructed by TRIZ space separation principle.In the second,the fundamental module of the 2D-motion mechanism of bio-inspired robotic fin ray is figured,and acquired initial mechanism by the fundamental module.At last,the internal conflict problem of the initial mechanism is summaried and the TRIZ conflict theory is introduced to solve the conflict problem step by step,get the innovative design scheme.(3)Made the simulation analysis to the 2D-motion mechanisn.The 2D-motion of bionic fin-ray is verified in Recurdyn simulation environment.The independence of these two movements is analysed from the dynamics point of view.The impace of each motion parameter to dynamic performance of the mechanism is summarized by numerical simulation.(4)Established the experimental test platform system.According to the characteristics of the 2D-motion mechanism of the bionic fin-fin and the constraint of the operating environment,the experimental test platform system is studied and the hardware and software control system is analyzed.