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.