鲹科和鲔科仿鱼机器人自主游动机理的分析与比较  

Comparison of Swimming Mechanism of Carangiform and Thunniform Fishlike Robot during Self-propulsion

作　　者：陈维山[1] 夏丹[1] 刘军考[1] 石胜君[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《机械工程学报》2010年第23期1-7,15,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905040);哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题(SKLRS200801C)资助项目

摘　　要：采用计算流体力学方法对自主游动的仿鱼机器人进行数值模拟,给定相同的物理模型,将鱼体分别按照鲹科模式和鲔科模式运动学进行游动,提取两种模式的力能学和流场结构信息。通过比较二者的收敛速度、推进力和侧向力、功率消耗和推进效率、流场结构的差异,归纳出提高仿鱼机器人游动性能的影响因素。结果表明,鲹科模式中的'波动鱼尾'和鲔科模式中的'摆动鱼尾'在自主游动中起到了极为可观的作用;鲹科模式具有良好的综合游动性能,只有在合理的参数范围内,鲔科模式的游动性能才会较鲹科更为占优;对于鲔科模式而言,欲获得理想的收敛速度和推进效率,应优先选择合理的最大击水角度,再依据快速和高效的不同目标适当调整相位差。研究结果对于理解鲹科和鲔科仿鱼机器人的自主游动机理、开发新型仿鱼机器人具有重要意义。Numerical simulation of the self-propelled fishlike robot is carried out by using computational fluid dynamics.The two robots,which share the same physical model,are undergone with carangiform and thunniform kinematics respectively.Both the energetics and flow structures are extracted for the two modes.Impact factors for improving the swimming performance are summarized by comparison of convergence speed,propulsive force and lateral force,power consumption and propulsive efficiency,flow structures of both modes.The results show that both ＂undulating tail＂ and ＂oscillating tail＂ play significant roles in fishlike swimming.Comparing with thunniform mode,carangiform mode exhibits a good comprehensive performance.Only within a reasonable parameter range can thunniform mode obtain more excellent performance than carangiform one.As for fishlike robot,an appropriate maximum angle of attack should be selected first and then the phase difference can be adjusted according to the objective of high speed or high efficiency.The findings are of great significance to the understanding of mechanisms of carangiform and thunniform as well as the development of novel fishlike robots.

关 键 词：仿鱼机器人 鲹科模式 鲔科模式 运动学 力能学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]