Mechanical Design And Motion Analysis Of The Biominetic Robotic Bolpin

In recent years, the pollution of the port is more and more serious in China. Thetraditional manual monitoring method could not meet the requirement which the portwater quality was monitored quickly and safely. To solve this problem, this thesisfirstly summarized the bionic robot fish and robotic dolphin research situation. Then,we preliminary designed a robotic dolphin that was used into monitoring waterpollution. According to the dolphin's bionics characteristics and the hydrodynamiccharacteristic, we designed the new prototype by referring to the appearance of'Yangtze River Dolphin'. The specific research contents of the article were asfollows:Based on thunniform propulsion mode, we designed a novel robotic dolphin thatimitated the dorsoventral movement of wild dolphin. Based on the design concept ofmodularization and the bionics principle,we designed the mechanical structure ofrobotic dolphin the bionics.Since the adjustable amplitude mechanism was the cantilever layout and therated speed was too fast, we carried on modal analysis to the adjustable amplitudemechanism, we got its inherent frequency and vibration mode, calculating whether theadjustable amplitude mechanism occurred resonance under normal workingconditions. We analysed the influence of inherent frequency and vibration modethrough changing the material. Ensure that the adjustable amplitude mechanism won'tappear resonance.Based on the kinematics characteristic of the dolphin, we established thedynamic equations for the sinusoidal propulsion system. Then, we researched themotion of whole robotic dolphin, and established the 5-DOF motion equation of therobotic dolphin by reference to the motion equation of submarine.The dorsoventral movement of robotic dolphin was validated by using theCOSMOSMotion in SolidWorks. Meanwhile, we proved machine the rationality, highefficiency and feasibility of the dolphin promote institutions through the results ofmotion simulation. The results could also provide reference for the follow-up researchof control system and robotic dolphin's underwater experiment.