波动鳍极地两栖机器人近壁区鳍面运动仿真研究  

Research on motion simulation of fin surface of polar amphibious robot with undulating fin in near-wall region

作　　者：黄鑫迪 刘铁军[1] 阎述学 HUANG Xindi;LIU Tiejun;YAN Shuxue(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110169

出　　处：《舰船科学技术》2024年第20期94-99,共6页Ship Science and Technology

基　　金：工业和信息化部高技术船舶科研项目(CBG2N21-2-1)。

摘　　要：随着北极海冰消融,北极的战略地位日益凸显,而两栖机器人在极地极端环境中具有广阔的应用前景。本文提出一种波动鳍极地两栖机器人概念样机,并建立波动鳍结构及运动学模型。针对近冰底观测任务,将波动鳍分为水平摆动和垂直摆动2种运动模式,通过数值仿真方法探究了波动鳍在近壁区不同运动模式下受力、压强以及涡量场的变化规律。结果表明,水平摆动的波动鳍离壁面越近,升力越大,且存在临界幅值,幅值高于临界值时,推力随之减小;幅值低于临界值时,推力随之增加。垂直摆动的波动鳍离壁面越近,推力越小,负升力越大。波动鳍推力和升力的变化原因是鳍面与壁面之间空间的变化,改变了流体流动结构,从而改变了波动鳍周围的压力场和涡量场。With the melting of Arctic sea ice,the Arctic's strategic significance is gaining prominence.Amphibious ro-bots have considerable potential for applications in extreme polar environments.This paper proposes a concept prototype of a polar amphibious robot with undulating fins and establishes the structure and kinematic model ofthe fin.To observe the bottom of sea ice,this paper categorizes the undulating fins'motion modes into horizontal and vertical swings,and investigates changes to force,pressure,and vorticity fields in the near-wall region under different motion modes using numerical methods.The results show that the closer the horizontal swing fin is to the wall,the lift force increases,and there is a critical amplitude.When the amplitude is higher than the critical value,the thrust force decreases.When the amplitude is lower than the critical value,the thrust force increases.The closer the vertical swing fin is to the wall,the thrust force decreases and the lift force in-creases.The reason for the change in thrust and lift of the undulating fins is the change in the space between the fin surface and the wall,which changes the fluid flow structure and thus the pressure and vorticity fields around the undulating fin.

关 键 词：极地 两栖机器人 波动鳍 近壁区 水动力特性 

分 类 号：U661.3[交通运输工程—船舶及航道工程]