Dinghui Chu

The Principle of Turtle Motion and Bio-Mechanism of Its Four Limbs Research

As good pose agility and control ability of the marine turtle swimming, its motion principle and bionic of four-limbs are investigated. After building a real-time video monitor experiment platform for turtle motion, by the video processing methods and analyzing turtle characters, the movement parameters of turtle are extracted, the coordination control theory of multi-drive is put forward and the underwater motion principle of turtle is obtained. Secondly, establish the two DOF motion model of turtlepsilas four-limbs, analyze their hydrodynamics characteristics, and confirm that the model physical parameters and movement parameters as the influential factors for the bio-mechanism motion. Finally, in point of function bionics, the hydrofoil bio-mechanism and the palmiped bio-mechanism are designed. By use of the calibration experiments of oscillating interpolated activation function and the optimization experiments of hydrofoil-rootspsila key points, the feasibility and reliability of bio-mechanism are validated, at the same time, the foundation to optimize the bionic design and the reference to the control decision-making of turtle motion bionic sample are provided.

Analysis and experiment research of the turtle forelimb's hydrofoil propulsion method

Based on agility, stationarity, low-noise, and special methods of pose control about sea turtle swimming, the bionic turtle forelimbs hydrofoil propulsion principle was researched. Taking a ripe green-turtle as the biological prototype, utilizing the real-time monitor experiment platform of turtle movement, its skeleton configuration characters were analyzed, the hydrofoil motion parameters were extracted, and the forelimbs hydrofoil propulsion principle was researched from the point of dynamic and static state respectively. Secondly, established the two DOF motion model of turtle hydrofoil, analyzed its kinematics and dynamics characteristics, and confirmed that the model physical parameters and movement parameters as the influential factors for the bio-mechanism motion. Finally, in point of function bionics, the hydrofoil motion bio-mechanism was designed. By using of not only the performance test experiments of azimuth spin and stroke spin, but also the mechanism loading experiments under multimode, the control elements of bio-mechanism motion control was obtained. At the same time, the reliability and rationality of the design was validated by the experiments, enriching the underwater propulsion theories.

Research on Turtle Hydrofoil Motion Principle and Bionics

Based on the characteristics of the hydrofoil motion of marine turtle, which has good agility and mobility, the movement principle of the hydrofoil is investigated. Through the image processing method, the eigenvalues of turtle hydrofoil motion in the representative states is extracted, the states of the motion is described and abstractly analyzed, and then two degree of freedom hydrofoil motion model is established. Secondly, we design hydrofoil propulsive bio-mechanism, analyze its hydrodynamics, and confirm the model physical parameters and motion parameters as the influential factors for the movement of the bio-mechanism, so that it provides the foundation to optimize the design and control of the bio-mechanism. Finally, the experiment platform for mono-limb movement is developed; the experiment results using the platform validate the feasibility of the bionic propulsive principle and the reliability of the bio-mechanism. The paper provides important reference to bionic underwater robot research.