仿生机器鱼鳍波动推进速度的理论分析和实验测试  

Theoretical and experimental research on the undulating propulsion velocity of a biomimetic robotic fin

作　　者：何建慧[1] 章永华[1] 

机构地区：[1]台州职业技术学院,浙江台州318000

出　　处：《水动力学研究与进展（A辑）》2015年第3期330-337,共8页Chinese Journal of Hydrodynamics

基　　金：浙江省教育厅科研课题(Y201122502);台州职业技术学院一般课题(2015YB02)~~

摘　　要：为了提高仿鱼型推进器在水中运动的稳定性和机动性,该文选择了典型的依靠胸鳍波状运动产生推进力的蓝点魟为仿生对象,对胸鳍的结构进行简化,并基于这种简化模型设计了仿生波动鳍推进装置。详细介绍了该装置的机械结构和控制电路,通过理论计算和实验测试相结合的方法,全面分析了影响仿生机器鱼鳍推进器波动游动速度的各种因素,包括:波动频率及摆幅和波长等运动学参数、鳍面面积、流体介质密度及仿生鳍的重量等,揭示了各因素的影响规律。通过研究发现:仿生波动鳍推进速度基本上随着波动频率、摆幅和波长等运动学参数的增加而增大;随着鳍面面积或流体介质密度的增大,相同运动学参数下推进速度亦明显加快;此外,推进速度随着该仿生鳍的重量增加而略有降低。In order to improve the stability and maneuvering of biomimetic fish like underwater propulsors, Blue Spotted Ray that propel themselves by their pectoral fins is selected as target. First, a biomimetic robotic undulating fin propulsor was built based on the simplified pectoral structure of living Blue Spotted Ray. The mechanical structure and control circuit were then presented. Later, the influence of various parameters on the propulsion velocity of the propulsor was analyzed using both theoretical and experimental methods, including kinematic parameters such as frequency, amplitude and wavelength, fin surface area, fluid density and fin weight, etc. It is found that the propulsion velocity generally increases with the increase of kinematic parameters such as frequency, amplitude and wavelength respectively. Moreover, it also increases with the increase of fin surface area and fluid density under the same kinematic parameters. However, the propulsion velocity decreases when fin weight increases.

关 键 词：波动推进速度 仿生机器鱼鳍 运动学 计算流体动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]