展向刚度对拍动式仿生胸鳍水动力性能影响的实验研究  

Hydrodynamic experiment on influence of span-wise stiffness of flexible pectoral fin

作　　者：郭松子 李志印[1] GUO Songzi;LI Zhiyin(China Ship Development and Design Center,Wuhan 430064,China)

机构地区：[1]中国舰船研究设计中心,湖北武汉430064

出　　处：《中国舰船研究》2024年第2期31-36,共6页Chinese Journal of Ship Research

摘　　要：[目的]旨在研究拍动式胸鳍沿翼展方向结构设计刚度对其水动力性能的影响。[方法]提出一种柔性仿生胸鳍的非均匀展向刚度设计方法。通过搭建的胸鳍水动力性能实验平台,测试0.3~1.0 Hz驱动频率下不同展向刚度仿生胸鳍拍动时产生的平均推进力与平均侧向力,并结合高速摄像机采集的胸鳍运动图像序列,分析仿生胸鳍展向变形对其产生推进力的影响。[结果]实验结果表明,在测试的拍动频率范围内,柔性仿生胸鳍产生的平均推进力及平均侧向力均与鳍条的展向刚度大小及分布情况相关。通过优化机器鱼样机(XJmanta)柔性仿生胸鳍的展向刚度可使其最大游动速度提升约45%。[结论]研究成果可用于指导拍动式柔性仿生胸鳍的设计,优化胸鳍输出水动力性能,提升仿生机器鱼本体游动时的机动性。[Objectives]This paper investigates the influence of the span-wise stiffness of a flapping pectoral fin on its generated thrust.[Methods]A scheme to fabricate a flexible pectoral fin with uniform spanwise stiffness is introduced.A series of experiments is then conducted to investigate the generated thrust and lateral force of the fabricated pectoral fin with different degrees of span-wise stiffness in the frequency range of 0.3−1.0 Hz.Combined with collected shots by a high speed camera,the impact of span-wise stiffness on generated force is analyzed.[Results]The experimental results show that the average propulsion force and the average lateral force generated by the flexible bionic pectoral fins are related to the size and distribution of the radial stiffness of the fin in the range of the tested flap frequency.By optimizing the spreadal stiffness of the flexible bionic pectoral fin of the robotic fish prototype(XJmanta),the maximum swimming speed can be increased by about 45%.[Conclusions]The results of this study can be used to guide the design of flapping flexible bionic pectoral fins and optimize the hydrodynamic performance of ray-like underwater robots.

关 键 词：仿生驱动器 展向刚度 水动力实验 柔性仿生胸鳍 

分 类 号：U661.1[交通运输工程—船舶及航道工程]