仿鱼机器人S形快速起动的推进效率分析  

Propulsion efficiency analysis of S-start swimming of fish-like robot

作　　者：陈宏[1] 徐刚[1] 费跃农[1] 郑三元[1] 

机构地区：[1]深圳大学机电与控制工程学院,广东深圳518060

出　　处：《工程设计学报》2010年第1期55-60,共6页Chinese Journal of Engineering Design

基　　金：深圳大学校级自然科学类博士启动科研项目资助(200935)

摘　　要：基于白斑狗鱼主动/被动S形起动的体干曲线的摆动规律,为研制的仿鱼机器人建立S形起动的运动方程.通过流体举力、边界层摩擦阻力和纵向附加质量力等水动力计算,分析仿鱼机器人S形起动的水下推进效率.利用主动/被动S形起动的多步态仿真实验,给出仿鱼机器人动能、输入功率和推进效率等水下机动性能指标,为仿鱼机器人的水下机动推进实验研究和优化设计提供理论依据.Based on the oscillating movement of S-start of strikes and startles in northern pike, the motion equations for S-start were established for the developed fish-like robot. Through the calculations of the fluid thrust, the boundary layer friction and the added mass in lengthwise direction, the propulsion efficiency of S-start was analyzed. By using the multi-step simulation experiments of strikes and startles of S start, the underwater maneuverability performance indices such as kinetic energy, input power and propulsion efficiency were obtained, which provides theoretic reference for the experimental research and optimal design of the underwater maneuvering propulsion of fish-like robots.

关 键 词：主动/被动S形起动 仿鱼机器人 推进效率 仿真试验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] U661.33[自动化与计算机技术—控制科学与工程]