为了满足水下船体检测的工作需求，对目前水下船体检测方法进行研究，设计一种用于水下船体检测的仿生扑翼机器人。首先基于仿生学的原理，对机器人整体结构进行设计，通过机身和肢体结构的相互配合设计，提高机器人在水下环境中的稳定性和灵活性；其次，通过FLOW Simulation软件对机器人的仿生扑翼机构进行了扑翼运动过程的模拟实验，验证了设计的合理性和可行性。结果表明，该仿生扑翼机器人具备良好的姿态调整能力与优越的稳定性能，满足水下船体检测的需求。
To achieve the working demand of underwater hull inspection, a bionic flapping robot was designed for underwater hull inspection. In this paper, the overall structure of the robot is firstly designed based on the principle of bionics. The stability and flexibility of the robot in the underwater environment are improved through the mutual coordination design of the body and limb structure. Secondly, the simulation experiment of the fluttering motion process of the bionic fluttering mechanism of the robot was carried out by FLOW Simulation software to verify the rationality and feasibility of the design. The results show that the bionic flapping wing robot has good attitude adjustment ability and superior stability performance, and it can be used for the underwater hull inspection.
2024,46(23): 111-115 收稿日期：2024-3-1
DOI：10.3404/j.issn.1672-7649.2024.23.018
分类号：U672
基金项目：江苏省第六期“333高层次人才培养工程”（第三层次）；山东省自然科学基金面上项目（ZR2020ME145）；江苏海事科技创新基金项目（2022KJCX05）
作者简介：沈雁(1981-),女,博士,副教授,研究方向为海洋工程
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