鲹科模式机器鱼自主游动的水动力特性研究  

Research on Hydrodynamics of Carangiform Mode Robotic Fish Swimming under Self-propulsion

作　　者：夏丹[1] 陈维山[2] 伍志军[2] 徐丰羽[1] 刘磊[1] 

机构地区：[1]东南大学机械工程学院,南京211189 [2]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》2013年第21期54-61,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51205060;51005046);国际科学基金(F/4736-1);机器人技术与系统国家重点实验室开放基金(SKLRS 2011-ZD-03)资助项目

摘　　要：采用数值模拟方法对鲹科模式机器鱼的自主游动机理进行研究。通过求解三维机器鱼自静止状态起动,逐渐加速并最终收敛到稳态游动的动力学过程,探讨自主游动过程中运动学和力能学参数的时间历程规律,并通过改变机器鱼的运动学参数来研究其自主游动的水动力性能,揭示力学机理和流场结构。结果表明,机器鱼自主游动过程中,速度和力呈现明显的非定常变化,在鱼体开始摆动并逐渐加速的过程中,作用在鱼体上的力和力矩均不平衡,因此存在一定的平动和转动加速度,当流场趋于稳定时,鱼体所受的力和力矩达到平衡,并获得一定的前向稳态游动速度。进一步在稳态游动的基础上,研究摆动频率和尾部摆幅对机器鱼水动力参数的影响,提取的三维流场结构清晰地反映出二者对机器鱼稳态游动的影响机制。研究结果对于获得更为合理的三维机器鱼的稳态游动机理,开发新型原理样机具有重要意义。The Mechanism of robotic fish under self-propelled swimming is numerical simulated for carangiform mode. The time history rules for kinematics and energeties parameters are explored by solving the dynamic process from the stationary state first and then accelerating to the steady state finally. Hydrodynamic performance, as well as the mechanics and fluid structures, is studied by changing the kinematics parameters during steady swimming. The results show that the velocity and force exhibit unsteady variations obviously during the self-propulsion. The translational and rotational acceleration are turned out due to the fact that force and torque acting on the fish are both unbalance during the accelerating process. When the flow becomes stable, the force acting on the fish is balanced and the steady swimming velocity is achieved. The effects of oscillating frequency and tail amplitude on the energetics parameters are studied in the steady state swimming. The mechanisms of the kinematics exerted on the steady state performance are revealed by extracting the three dimensional fluid structure. The findings are of great importance to the swimming mechanism obtained more reasonably as well as the development of a novel robotic fish.

关 键 词：机器鱼 自主游动 水动力特性 流场结构 鲹科模式 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]