Hydrodynamic Characteristic Analysis of a Biomimetic Underwater Vehicle-Manipulator System  

作　　者：Hongfei Chu Xiaolong Hui Xuejian Bai Min Tan Yu Wang 

机构地区：[1]State Key Laboratory of Multimodal Artificial Intelligence Systems,Institute of Automation,Chinese Academy of Sciences,Beijing,100000,China [2]School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing,100000,China [3]School of Electrical Engineering,Liaoning University of Technology,Jinzhou,121000,China

出　　处：《Journal of Bionic Engineering》2025年第2期654-669,共16页仿生工程学报(英文版)

基　　金：supported in part by the National Key Research and Development Program of China under Grant 2023YFB4707000,in part by the National Natural Science Foundation of China under Grant U24A20282,Grant U24A20281,Grant U23A20343,Grant U23B2038;in part by the Youth Innovation Promotion Association CAS under Grant Y2022053;in part by Beijing Natural Science Foundation under Grant 4222055。

摘　　要：The propulsion mechanisms of biomimetic underwater vehicles using bionic undulatory fins have been extensively studied for their potential to enhance efficiency and maneuverability in underwater environments.However,the hydrodynamic interactions between the vehicle body,robotic manipulator,and fluctuating motion remain less explored,particularly in turbulent conditions.In this work,a Biomimetic Underwater Vehicle-Manipulator System(BUVMS)propelled using bionic undulatory fins is considered.The propulsion mechanism and hydrodynamic performance of fluctuating motion are analyzed by numerical simulation.The drag coefficients of the BUVMS at different Reynolds numbers are calculated,and the investigation of vortex generation during the motion of the BUVMS reveals that vortex binding and shedding are the key factors for propulsion generation.Various moving modes of the BUVMS are developed in conjunction with the pro-pulsion mechanism.The hydrodynamic loads during the motion of the underwater robotic arm in a turbulent environment are analyzed.A simple motion strategy is proposed to reduce the effect of water drag on the manipulation of the robotic arm and on the overall stability of the BUVMS.The results of the hydrodynamic analysis offer systematic guidance for controlling underwater operations of the BUVMS.

关 键 词：Biomimetic underwater vehicle-Manipulator system(BUVMS) Computational fluid dynamics(CFD) HYDRODYNAMICS Bionic undulatory fins Propulsion mechanism 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]