仿生蝠鲼机器鱼BH-RAY3的研制及水力实验  

Development and Hydrodynamics Experiments of Robotic Manta Ray BH-RAY3

作　　者：李吉[1] 毕树生[1] 高俊[1] 郑礼成[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《控制工程》2010年第S1期127-130,共4页Control Engineering of China

基　　金：863课题基金资助项目(2006AA04Z252)

摘　　要：通过对蝠鲼外形参数的设计和胸鳍变形机理的研究,研制了仿生蝠鲼机器鱼BH-RAY3。该机器鱼具有双柔性胸鳍,翼展620 mm,身长400 mm,最大航速1.09 DLS,外形阻力小,通过尾舵实现升降及转向。对BH-RAY3进行的水洞拖拽实验表明,随着拍动频率和幅度的增大,胸鳍推进力增大,在频率为1.0 Hz,幅度为24°时达到1.452 N;其次,对胸鳍被动变形形态的分析表明,柔性胸鳍同时产生0.25波长的弦向波和1个波长的展向波,与蝠鲼短波长、低频率的运动特点一致,验证了设计的合理性和可行性。The robotic manta ray BH-RAY3 is designed according to manta ray main figure outline parameters and the driving mechanism of its pectorals,which provide the thrust.With smooth shells and high maneuverability,BH-RAY3,whose span-wise is 620 mm and body length is 400 mm,could obtain a speed of 1.09 DLS.A water tunnel experiment is carried out to test the thrust from BH-RAY3 while it is swimming.The results revealed that the thrust would rise as the fin-beat frequency and magnitude is increased.With oscillational frequency 1.0 Hz and magnitude 24 °,the flexible fins could provide BH-RAY a thrust of 1.452 N.Additionally,the appearance of the fins is analyzed,whose shape is changing with time,showed that,during its oscillation,a sine wave with 0.25 wavelength along the chordwise and a full sine wave along spanwise on the fins are generated.This is just like the performance of manta rays while swimming,which confirmes the design is reasonable and feasible.

关 键 词：蝠鲼 柔性胸鳍 机器鱼 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]