Mechatronic Design and Maneuverability Analysis of a Novel Robotic Shark  

新型仿生鲨鱼结构设计及操纵性分析

作　　者：Liyang Gao Peng Li Hongde Qin Zhongchao Deng 高立阳;李鹏;秦洪德;邓忠超(College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Yantai Research Institute and Graduate School of Harbin Engineering University,Yantai 264006,China)

机构地区：[1]College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China [2]Yantai Research Institute and Graduate School of Harbin Engineering University,Yantai 264006,China

出　　处：《Journal of Marine Science and Application》2022年第2期82-91,共10页船舶与海洋工程学报（英文版）

基　　金：financially supported by the National Natural Science Foundation of China(Grant No.51909040);the Natural Science Foundation of Heilongjiang Province(Grant No.LH2020E073);the Key Technology Research and Development Program of Shandong(Grant No.2020CXGC010702).

摘　　要：In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.

关 键 词：Mechatronic design Three-joint propulsion system Robotic shark Dynamic modeling Maneuverability analysis 

分 类 号：U661.33[交通运输工程—船舶及航道工程]