Structural Design and Research of Turtle Paddling Sports Model

Bionic underwater exploration robot is an important tool to replace manual underwater operation as well as information acquisition. Comparing the characteristics of the existing similar bionic turtle's motion mechanism, a new bionic turtle model with crank linkage motor drive is designed, a simplified motion model is established from the turtle's forelimb motion, the paddling motion is investigated, the motion characteristics are analyzed, the bionic underwater propulsion drive unit is developed based on the model, and a control system for the bionic turtle motion is designed to carry out the feasibility of the motion of the bionic hydrofoil mechanism and the control system. The feasibility of the hydrofoil-like mechanism and the effectiveness of the control system are studied. The virtual prototype simulation experiments show that the motion mechanism can achieve the expected underwater operation attitude adjustment and realize the underwater survey and information acquisition functions. The design is simple in structure, lightweight and practical, which provides a new idea for underwater exploration and diversified collection operations.