仿生机器鱼胸鳍波动与摆动融合推进机制建模及实验研究

范 增; 王扬威; 刘 凯; 赵东标

doi:10.11993/j.issn.2096-3920.2019.02.007

仿生机器鱼胸鳍波动与摆动融合推进机制建模及实验研究

doi: 10.11993/j.issn.2096-3920.2019.02.007

范增¹,
王扬威^1,2*,,
刘凯¹,
赵东标¹

1.
南京航空航天大学机电学院, 江苏南京, 210016
2.
东北林业大学机电工程学院, 黑龙江哈尔滨, 150040

基金项目: 江苏省自然科学基金(BK20171416); 中央高校基本科研业务费专项资金(NS2016055).

详细信息

通讯作者:
王扬威(1980-), 男, 博士, 高级工程师. 主要从事仿生机器人、机电一体化技术及智能装备的研究.

中图分类号: TP242; TB301.2
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- 文章访问数: 714
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- 被引次数: 0
出版历程
- 收稿日期: 2018-06-28
- 修回日期: 2018-10-08
- 刊出日期: 2019-04-30

Modeling and Experimental Research of Integrating Propulsion Mechanism of Pectoral Fin’s Fluctuation and Swing for the Biomimetic Robotic Fish

1.
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2.
College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China

摘要

摘要: 为研制出高性能仿生水下推进器, 文中以魟鱼为仿生原型, 并借鉴摆动模式鱼类推进机制, 提出了一种胸鳍波动与摆动融合推进机制的新型推进方式。设计了仿生机器鱼的机械结构与控制系统, 建立了融合胸鳍波动与摆动推进机制的动力学模型, 在理论分析的基础上, 实验研究了平均推进力和游动速度与摆动胸鳍面积和频率、幅值等运动参数之间的关系。研究结果表明, 理论计算值与实验结果的变化趋势相同, 仿生机器鱼的平均推进力与平均游动速度随摆动胸鳍面积增大而先增大后减小, 随频率、幅值的增大呈线性递增关系, 最大平均推进力达2.8 N, 最大游速达121 mm/s。文中所做研究可为改善机器鱼的游动性能提供参考。
- 仿生机器鱼 /
- 融合推进机制 /
- 波动与摆动 /
- 胸鳍 /
- 动力学模型
Abstract: For developing a high-performance biomimetic underwater thruster, this paper takes stingray as a biomimetic prototype and learns from the fish’s swing-mode propulsion mechanism to propose a new type of propulsion mode that integrates pectoral fin’s fluctuation and swing propulsion mechanisms. The mechanical structure and control system of the biomimetic robotic fish are designed, and a dynamic model integrating the pectoral fin’s fluctuation and swing propulsion mechanisms is built. Based on the theoretical analysis, the relations of the average propulsive force and swimming speed with the motion parameters such as area of swinging pectoral fin, the swing frequency, and amplitude are studied experimentally. The results show that the theoretical calculations and the experimental results have the same tendency; the average propulsive force and the average swimming speed of the robotic fish increase first and then decrease with the increase of the swing pectoral fin area, and they increase linearly with the swing frequency and amplitude increasing—the maximum average propulsive force reaches to 2.8 N, and the maximum swimming speed reaches to 121 mm/s. The research may provide a reference for improving swimming performance of the robotic fish.
- biomimetic robotic fish /
- integrating propulsion mechanism /
- fluctuation and swing /
- pectoral fin /
- dynamics model

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参考文献(20)

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