Investigation of the hydrodynamic performance of crablike robot swimming leg  

作　　者：王立权 王海龙 王刚 陈曦 Asker Khan 靳励行 

机构地区：[1]College of Mechanical and Electrical Engineering, Harbin Engineering University [2]State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University [3]College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology

出　　处：《Journal of Hydrodynamics》2018年第4期605-617,共13页水动力学研究与进展B辑（英文版）

基　　金：Project supported by the National Natural Science Foundation of China(Grant Nos.51409058,60875067);the Natural Science Foundation of Heilongjiang Province(Grant No.F201205)

摘　　要：The existing amphibious robots cannot usually enjoy a superior adaptability in the underwater environment by replacing the actuators. Based on the bionic prototype of the Portunus trituberculatus, a new leg-paddle coupling crablike robot with a composite propulsion of walking legs and swimming legs is developed, with both the abilities of walking and swimming under water. By simulation and experiment, the effects of the phase difference, the flapping amplitude and the angular bias of the coupling movement, as well as the Strouhal number on the hydrodynamic performance of the swimming legs are studied, and the time dependent tail vortex shedding structure in a cycle is obtained. Both experimental and numerical results indicate that the thrust force with a high propulsion efficiency can be generated by a flapping swimming leg. This work can further be used for analysis of the stability and the maneuverability of the swimming leg actuated underwater vehicles.The existing amphibious robots cannot usually enjoy a superior adaptability in the underwater environment by replacing the actuators. Based on the bionic prototype of the Portunus trituberculatus, a new leg-paddle coupling crablike robot with a composite propulsion of walking legs and swimming legs is developed, with both the abilities of walking and swimming under water. By simulation and experiment, the effects of the phase difference, the flapping amplitude and the angular bias of the coupling movement, as well as the Strouhal number on the hydrodynamic performance of the swimming legs are studied, and the time dependent tail vortex shedding structure in a cycle is obtained. Both experimental and numerical results indicate that the thrust force with a high propulsion efficiency can be generated by a flapping swimming leg. This work can further be used for analysis of the stability and the maneuverability of the swimming leg actuated underwater vehicles.

关 键 词：Leg-paddle coupling crablike robot swimming leg hydrofoil propulsion hydrodynamic performance 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]