摘要
设计了一种二自由度胸鳍/尾鳍协同推进的仿生机器鳕鱼,其胸鳍推进机构不仅能够单独实现前后拍翼运动、摇翼运动以及两者的复合运动,而且还可与尾鳍实现协同推进,进而分别建立了胸鳍单独推进、胸鳍/尾鳍协同推进时的水动力学模型。数值仿真及实验结果均表明,胸鳍复合运动与尾鳍协同推进时,仿生机器鱼游速最快,可达0.30 m/s,胸鳍摇翼运动推进时游速最低,仅为0.05 m/s,其他推进方式的游速介于二者之间,但均能够实现稳定的游动。与现有结果相比,所设计仿生机器鱼直线游动模态多样,稳定游速可选范围较宽,机动性较好。
Designing a novel biomimetic robotic Codfish in which namely driven by 2-DOF（degree of free- dom） pectoral-fins and caudal fin, the pectoral fins can achieve flapping, swaying, the composite motion of them and collaborating locomotion with caudal fin, separately. And then, the straight swimming hydrody-namics model is established when fish is driven by bilateral pectoral fins, or by pectoral fins and caudal fin together. The numerical simulation and experimental results, show that the maximum velocity of straight swimming achieves at 0.30 m/s by pectoral fins and flexible body together, and the minimum velocity is 0.5 m/s by pectoral fins＇ swaying, other＇s velocity of propulsion methods lie between the two cases, but are able to achieve a stable swimming. Compared with the existing results, the designed robotic fish have more abun-dant modes, wide speed range with better stability and better mobility.
作者
李宗刚
徐卫强
王文博
杜亚江
LI Zong-gang XU Wei-qiang WANG Wen-bo DU Ya-jiang(School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Chin)
出处
《船舶力学》
EI
CSCD
北大核心
2017年第5期513-527,共15页
Journal of Ship Mechanics
基金
国家自然科学基金资助项目(61663020
61064008)
教育部科学技术研究重点项目(211185)
甘肃省自然科学基金(1208RJZA166)
关键词
仿生鳕鱼
二自由度胸鳍
尾鳍
协同推进
水动力学分析
bionic cod
pectoral-fins with two degrees of freedom
caudal fin
promote synergy
hydrodynamic analysis
