仿生金枪鱼设计及其游动动力学建模与分析  

Design of Bionic Tuna and Modeling and Analysis of Its Swimming Dynamics

作　　者：朱忠辉 陶卫军[1] ZHU Zhonghui;TAO Weijun(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210000,China)

机构地区：[1]南京理工大学机械工程学院,南京210000

出　　处：《自动化与仪表》2025年第4期29-33,39,共6页Automation & Instrumentation

摘　　要：为利用机器人代替人工完成水下作业,设计一款两关节可浮潜的仿生金枪鱼并对其在水里进行游动性能分析。针对水下复杂环境的要求,确定仿生鱼的工作原理与结构组成;对仿生鱼的胸鳍、尾鳍进行了设计;使用AnsysFluent流体仿真软件对仿生鱼进行仿真分析,优化仿生鱼胸鳍结构;基于微元法与二维波动板原理建立仿生鱼运动过程的胸尾鳍动力学模型,通过MATLAB仿真得出仿生鱼能够通过胸鳍的摇翼运动或尾鳍的摆动实现游动,并且胸尾鳍共同运动时的游动性能更好。In order to use robots instead of manual work to complete underwater operations,a bionic tuna with two joints snorkeling was designed and its swimming performance was analyzed.Aiming at the demands of underwater intricate environment,the working principle and structural composition of bionic fish are determined.The pectoral fin and tail fin of bionic fish are designed.The bionic fish is simulated and analyzed by AnsysFluent fluid simulation software,and the pectoral fin structure of the bionic fish are optimized.Based on the infinitesimal method and the principle of two-dimensional wave plate,the dynamic model of the pectoral caudal fin of bionic fish is established.Through MATLAB simulation,it is concluded that bionic fish can swim through the flapping movements of pectoral fin and the oscillating movements of tail fin,and the swimming performance is better when pectoral tail fin moves together.

关 键 词：仿生金枪鱼 流体仿真 游动性能分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]