仿生机器鱼胸鳍辅助驱动方式优化分析  

Optimization Analysis for Pectoral Fin-Assisted Propulsion of Biomimetic Robotic Fish

作　　者：张帅 邓芳[1] 丁强 杜治宇 李淑江[1] ZHANG Shuai;DENG Fang;DING Qiang;DU Zhiyu;LI Shujiang(College of Mechanical and Electrical Engineering,Qingdao University of Science and Technology,Qingdao 266061,Shandong,China)

机构地区：[1]青岛科技大学机电工程学院,山东青岛266061

出　　处：《船舶工程》2025年第1期71-79,共9页Ship Engineering

基　　金：国家自然科学基金项目(52101401)。

摘　　要：[目的]为进一步提升水下仿生机器鱼的机动性,提高胸鳍辅助驱动效率,[方法]对胸鳍运动进行理论分析,确定影响胸鳍推力的运动参数,并提出胸鳍运动优化的3种方式,即回摇、停摇和后摇模式。通过计算流体力学(CFD)软件分析不同流速和运动频率下3种胸鳍运动模式对应的推力变化,以及胸尾鳍联合作用的推进效果。[结果]结果表明,后摇模式的阻力最小,平均推力最高,且在胸尾鳍联合驱动时较尾鳍单独驱动拥有较大的推力提升,可有效提高仿生机器鱼的机动性。[结论]研究成果可为水下仿生机器鱼的设计优化提供一定参考。[Purpose]In order to further enhance the maneuverability of underwater biomimetic robotic fish and improve the efficiency of fin-assisted propulsion,[Method]theoretical analysis of pectoral fin motion is conducted to determine the motion parameters affecting pectoral fin thrust,and three optimization methods for pectoral fin motion,namely roll back,stop roll and back roll modes,are proposed.Computational fluid dynamics(CFD)software is used to analyze the thrust changes corresponding to the three different pectoral fin motion modes under different flow velocities and frequencies,as well as the propulsion effect of the combined action of the pectoral and caudal fins.[Results]The results showed that the backward roll mode had the lowest resistance and the highest average thrust.In addition,when the pectoral and caudal fins are driven together,the thrust increase is greater than when the caudal fins are driven alone,which could effectively improve the manoeuvrability of the bionic robotic fish.[Conclusion]The research results can provide some references for the design optimization of underwater biomimetic robotic fish.

关 键 词：仿生机器鱼 辅助驱动 运动优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]