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| 1 | Biomimetic Shoulder Complex Based on 3-PSS/S Spherical Parallel Mechanism显示文摘The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism completely, also failed to solve the problem, such as small workspace, effectively. From the structural and functional bionic point of view, a three degrees of freedom(DOFs) spherical parallel mechanism for the shoulder complex of the humanoid robot is presented. According to the structure and kinetic characteristics analysis of the human shoulder complex, 3-PSS/S(P for prismatic pair, S for spherical pair) is chosen as the original configuration for the shouder complex. Using genetic algorithm, the optimization of the 3-PSS/S spherical parallel mechanism is performed, and the orientation workspace of the prototype mechanism is enlarged obviously. Combining the practical structure characteristics of the human shouder complex, an offset output mode, which means the output rod of the mechanism turn to any direction at the point a certain distance from the rotation center of the mechanism, is put forward, which provide possibility for the consistent of the workspace of the mechanism and the actual motion space of the human body shoulder joint. The relationship of the attitude angles between different coordinate system is derived, which establishs the foundation for the motion descriptions under different conditions and control development. The 3-PSS/S spherical parallel mechanism is proposed for the shoulder complex, and the consistence of the workspace of the mechanism and the human shoulder complex is realized by the stuctural parameter optimization and the offset output design. | HOU Yulei HU Xinzhe ZENG Daxing ZHOU Yulin | 2015 | Chinese Journal of Mechanical Engineering2015，28，1： | 22 |
| 2 | BCF仿生鱼游动机理的研究进展及关键技术分析显示文摘目前,仿生学者已经注意到身体/尾鳍摆动(Body and/or caudal fin,BCF)鱼类快速、高效的游动性能并制作多种基于生物原型的仿生机器鱼,但是,所研制的机器鱼样机性能与鱼类性能存在着较大的差距,这又进一步地促进了柔性鱼类快速高效游动机理的研究。从柔性鱼体游动过程中的机械特性和流场特性两方面出发,介绍国内外在BCF柔性鱼类游动机理方面的主要研究进展,重点讨论鱼类游动机理的变阻抗驱动和涡流控制两项关键技术。通过对鱼类游动机理研究成果的分析和总结,探讨柔性机器鱼研究的发展趋势。总的来说,随着BCF柔性鱼类游动机理研究的不断深入,仿生学科的交叉理论研究将得到进一步发展,仿生机器鱼与生物原型之间游动性能的差距也必将逐渐缩小,实际应用前景较为广阔。 | 崔祚 姜洪洲 何景峰 佟志忠 | 2015 | 机械工程学报2015，51，16： | 18 |
| 3 | Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish显示文摘 | Zhengxing Wu Junzhi Yu Min Tan Jianwei Zhang | 2014 | Journal of Bionic Engineering2014，11，2： | 8 |
| 4 | Thrust and Swimming Speed Analysis of Fish Robot with Non-uniform Flexible Tail显示文摘 | Phi Luan Nguyen Byung Ryong Lee Kyoung Kwan Ahn | 2016 | Journal of Bionic Engineering2016，13，1： | 4 |
| 5 | Mechanics Unloading Analysis and Experimentation of a New Type of Parallel Biomimetic Shoulder Complex显示文摘The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S(P for prismatic pair,S for spherical pair) spherical parallel mechanism(SPM),is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex. | HOU Yulei LI Zhisen WANG Yi ZHANG Wenwen ZENG Daxing ZHOU Yulin | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 4 |
| 6 | 柔性机器鱼的动力学建模及其游动性能分析显示文摘生物学研究表明,当鱼类尾鳍的摆动频率与其固有频率接近时,可获得快速高效的游动性能,而固有频率又与鱼体本身的黏弹性机械特性、水动力学特性等因素存在着复杂关系。根据Lighthill细长体理论,通过建立柔性机器鱼的动力学模型,求解其在流体环境中的固有频率,并结合鳕鱼的生物学数据,进一步分析了在'谐振'状态下机器鱼动力学参数与游动性能之间的关系。结果表明,机器鱼的共振频率是由鱼体本身和周围流体来共同决定的,鱼体摆动长度越长,截面尺寸越小,对应的共振频率越小。同时发现当鱼体波波速或滑移率不变时,鱼体游动速度与其共振频率成正比。上述结论均与现有生物学数据相吻合。总体上,该研究从柔性机器鱼的动力学出发,初步探索了鱼体动力学参数与其游动性能之间的关系。 | 崔祚 姜洪州 刘圣陶 | 2020 | 科学技术与工程2020，20，36： | 3 |
| 7 | A Stiffness Adjustment Mechanism Based on Negative Work for High-efficient Propulsion of Robotic Fish显示文摘 | Dong Xu Haining Zeng Xiang Peng Ziqing Zhao Jingmeng Liu | 2018 | Journal of Bionic Engineering2018，15，2： | 3 |
| 8 | 基于直线型内摆线的两关节尾摆推进系统的设计及运动仿真显示文摘以电动机、液压马达等常见驱动和机械传动组合的大功率尾摆仿生推进,是未来水下自动航行器最具应用潜力的推进模式。提出一种基于直线型内摆线的尾摆推进系统,该系统具有相位差可调、运动无急回,可实现减速和运动转换集成。在关节点对推进性能分析及尾摆尾部运动数学模型的基础上,建立尾摆推进系统的黑箱;以尾摆推进参数、关节、参数间关系等运动参数为设计条件,完成了直线型内摆线两关节尾摆推进系统的工作原理设计和结构设计;运动仿真结果表明,直线型尾摆推进机构实现了可调相位差的简谐运动合成,并与鲤鱼尾部运动样本进行比对,验证了装置的可行性。 | 王淑妍 王新国 朱君 朱永梅 朱慧云 丁进 | 2016 | 机械工程学报2016，52，15： | 1 |
| 9 | 柔性仿生机器鱼驱动频率设计原则显示文摘通过理论分析得到柔性仿生机器鱼鱼尾固有频率的表达式,并从中获得一种改变固有频率的方法,设计制作3个固有频率不同的柔性鱼尾并进行试验。所描述的获取鱼尾材料参数的方法更加可靠,驱动频率范围更高。试验得出:驱动频率接近固有频率,可改善柔性仿生机器鱼的运动特性,并且,相对于1阶固有频率,驱动频率等于2阶固有频率时的运动特性更好。提出了根据驱动频率范围,设计具有更优运动特性的柔性仿生机器鱼,确定驱动频率的准则。 | 赵慧 张锦 田体先 | 2019 | 机械设计2019，36，5： | 1 |
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