仿生波动鳍的试验研究  

Experimental investigation of bionic undulating fins

作　　者：林龙信[1] 沈林成[1] 张代兵[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《哈尔滨工程大学学报》2008年第5期489-492,共4页Journal of Harbin Engineering University

基　　金：国防基础科研基金资助项目(D2820061301)

摘　　要：波动鳍是某些MPF鱼类的重要推进器,它通过在水中的波动来产生推进和机动所需的操控力和操控力矩.通过观察可知,波动鳍具有非常优秀的低速稳定和机动性能,可作为传统水下推进器的一种有益补充.该文从波动鳍的推进机理出发,设计了一种仿生波动鳍试验装置,该装置采用"鳍条-柔性蹼"结构,由9根鳍条组成,且每根鳍条均由一个舵机进行独立控制.针对载体推进速度与仿生波动鳍的波频、波幅、波长和波传播方向的关系开展了水池试验研究.试验结果表明,通过对仿生波动鳍的波动进行控制,能够使载体实现灵活的正逆向推进,且不同的波动参数对推进速度和推进效率有较大影响.An important thruster of some median and paired fin （MPF） fishes, undulating fins deliver the manipulative forces and torque required for propulsion and maneuvering by their undulations in water. Ac- cording to observations, undulating fins have excellent low-speed stability and maneuverability, which makes them a good supplement to conventional thrusters. This paper starts with an examination of the propulsive mechanisms of undulating fins, then discusses the design of an experimental testbed for bionic undulating fins. Its structure consists of a flexible membrane with nine fin rays which are each separately controlled by a servomotor. The relationships between propulsive force and undulatory parameters such as frequency, amplitude, wavelength, and propagating direction were investigated via pool experiments. Results indicated that a body with an undulating fin can go forward and backward with high agility under the control of the bionic undulating fin and undulatory parameters significantly effect propulsive speed and efficiency.

关 键 词：仿生波动鳍 水下机器人 推进机理 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]