水下非对称扑翼运动的流体动力分析与机构设计  

Analysis on hydrodynamic characteristics of asymmetric-flapping foil and the mechanism design

作　　者：张宏伟[1] 张江超 王延辉[1] 马骉 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械设计》2017年第8期13-18,共6页Journal of Machine Design

基　　金：国家高技术研究发展计划资助项目(2012AA091001);国家自然科学基金资助项目(51475319);国家自然科学基金资助项目(51575376)

摘　　要：水下非对称扑翼运动不仅能够产生前向推力,同时使垂直于航行速度方向的平均升力不为零,基于这个原理可以更好地实现水下航行器的推进和操纵。利用计算流体力学方法对典型非对称扑翼运动算例进行了数值仿真计算,分析了非对称扑翼运动规律与流体动力之间关系。基于完全解耦的2自由度并联机构,对扑翼驱动机构进行了设计,并对非对称扑翼运动进行了运动学仿真。该机构不仅具有刚度好、运动精度高和系统惯性小的优点,而且其解耦特性使机构分析和控制系统开发的难度降低,同时更容易实现复杂的扑翼运动规律。Underwater flapping foil with asymmetric motion can produce propulsive force, and nonzero average lift which is perpendicular to the speed of navigation, based on this principle, the propulsion and control of underwater vehicle can be real- ized better. Computational fluid dynamics method is applied to calculate the numerical example of hydrodynamic characteristics of asymmetric-flapping foil. The relationship between the asymmetric motion and the hydrodynamic is analyzed. Then, the ma- nipulator of flapping foil is designed based on a fully decoupled two degrees of freedom parallel mechanism, and kinematics simulation of asymmetric flapping foil motion is carried out. This mechanism possesses characteristics of low inertia at end ma- nipulator, good rigidity and high kinematic accuracy. Because of its decoupling property, it is easier to analyze the mechanism and develop the control system, at the same time, and realize the complex flapping foil motion simultaneously.

关 键 词：扑翼 非对称运动 流体动力特性 计算流体力学 解耦 机构设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]