仿牛鼻鲼机器鱼倒游性能胸鳍结构设计与实验

李博; 余应明; 曹永辉; 郝艺伟; 潘光; 曹勇

doi:10.11993/j.issn.2096-3920.2023-0157

仿牛鼻鲼机器鱼倒游性能胸鳍结构设计与实验

doi: 10.11993/j.issn.2096-3920.2023-0157

李博^1,,
余应明^1,,
曹永辉^{1, 2,},
郝艺伟^2,,
潘光^{1, 2,},
曹勇^{1, 2, ,}

1.
西北工业大学宁波研究院无人航行技术研究中心, 浙江宁波, 315048
2.
西北工业大学航海学院, 陕西西安, 710072

详细信息

作者简介:
李博：李　博(1987-), 男, 硕士, 中级工程师, 主要从事仿生潜航器总体设计与研究

通讯作者:
曹　勇(1986-), 男, 博士, 副研究员, 主要从事仿生水下机器人结构设计与智能控制研究.

中图分类号: U674.94; TJ630
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- 文章访问数: 735
- HTML全文浏览量: 24
- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2023-12-06
- 修回日期: 2024-01-04
- 录用日期: 2024-01-05
- 网络出版日期: 2024-01-16

Pectoral Fin Structural Design and Experiments on Robotic Cow-Nosed Ray with Backward Swimming Performance

LI Bo^1
,,
YU Yingming^1
,,
CAO Yonghui^{1, 2
,},
HAO Yiwei^2
,,
PAN Guang^{1, 2
,},
CAO Yong^{1, 2
, ,}

1.
Unmanned Vehicle Innovation Center, Ningbo Institute of Northwestern Polytechnical University, Ningbo 315048, China
2.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China

摘要

摘要: 现有基于摆动胸鳍推进方式的机器鱼有很多突出特点, 特别是前向游动稳定性, 但倒游性能研究不足, 因此文中针对性地讨论摆动胸鳍推进模式的仿牛鼻鲼机器鱼倒游水动力性能。分别设计了完整胸鳍结构与分体胸鳍结构, 通过对比实验测试验证了分体胸鳍结构较完整胸鳍结构倒游推力的优越性, 通过推力和电流的比值进一步分析能耗转化效率。实验研究了前游和倒游推力与幅值和频率变化之间的关系, 并且通过采集的电流数据, 整理出2种胸鳍结构在前游和倒游工况下的推力等效效率与幅值和频率变化关系曲线; 分析了2种胸鳍结构产生推力及推力等效效率的原因。实验结果表明: 前游工况下, 2种胸鳍推力值接近, 倒游工况下, 随着幅值和频率的增加, 分体胸鳍结构倒游推力增加明显, 最大可达0.22 N; 前游工况下, 分体胸鳍结构推力等效效率较完整胸鳍稍差, 倒游工况下, 随着幅值和频率的增加, 分体胸鳍结构倒游推力等效效率有显著提升。文中对分体胸鳍结构的设计为探究基于摆旋机构推进机器鱼倒游性能提供了参考。
- 仿牛鼻鲼 /
- 机器鱼 /
- 胸鳍设计 /
- 倒游性能
Abstract: Robotic fish with pectoral fin swing have many outstanding features, especially forward swimming stability, but the research on their backward swimming performance is insufficient. Therefore, this article specifically discussed the hydrodynamic performance of the robotic cow-nosed ray with backward swimming in pectoral fin swing propulsion mode. Complete pectoral fin and split pectoral fin were designed, and the superiority of split pectoral fin structure over complete pectoral fin structure in terms of backward thrust was verified through experimental testing. The energy conversion efficiency was analyzed through the ratio of thrust to current. According to the collected current data, the equivalent thrust efficiency and amplitude and frequency variation curves of the two pectoral fin structures under forward and backward swimming conditions were drawn. The reasons for the thrust generation and equivalent thrust efficiency of two types of pectoral fin structures were analyzed. The experimental results show that under the forward swimming condition, the two types of pectoral fins have similar thrust values. Under the backward swimming condition, with the increase in amplitude and frequency, the thrust of the split pectoral fin structure increases significantly, reaching a maximum of 0.22 N. Under the forward swimming condition, the split pectoral fin structure is slightly worse than that of a complete pectoral fin. Under the backward swimming condition, with the increase in amplitude and frequency, the equivalent thrust efficiency of the split pectoral fin structure is significantly improved. The design of the split pectoral fin structure in the article provides a reference for exploring the backward swimming performance of robotic fish based on the swing mechanism.
- cow-nosed ray /
- robotic fish /
- pectoral fin design /
- backward swimming performance

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图 1 牛鼻鲼标本

Figure 1. Cow-nosed ray specimen

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图 2 生物学骨骼分布

Figure 2. Distribusion of biological skeleton

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图 3 仿牛鼻鲼机械鱼模型

Figure 3. Robotic cow-nosed ray model

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图 4 实验模型

Figure 4. Experimental model

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图 5 完整胸鳍鳍板结构

Figure 5. Structure of complete pectoral fin

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图 6 摆旋驱动完整胸鳍

Figure 6. Swinging drive complete pectoral fin

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图 7 分体胸鳍鳍板结构

Figure 7. Split pectoral fin stucture

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图 8 摆旋驱动分体胸鳍

Figure 8. Swinging drive split pectoral fin

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图 9 循环水槽实验平台

Figure 9. Circulating water tank experimental platform

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图 10 摆旋机构二维原理图

Figure 10. Two-dimensional diagram of swing structure

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表 1 循环水槽参数

Table 1. Parameters of circulating water tank

流速/(m/s)	精度/(m/s)
0.05~0.5	±0.01
0.5~1.0	±0.02
1.0~1.2	±0.03

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表 2 六维力/力矩传感器参数

Table 2. Parameters of six dimensional force/torque sensor

传感器型号	量程				分辨率
传感器型号	F_x、F_y/N	F_z/N	T_x、T_y/Nm	T_z/Nm	F_x、F_y/N	F_z/N	T_x、T_y/Nm	T_z/Nm
SI-125-3	125	500	3	3	1/48	1/16	1/1 320	1/2 640

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表 3 推力对比分析

Table 3. Comparison analysis of thrust

幅值/(°)	前游推力	倒游推力
20
30
40

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表 4 推力等效效率对比

Table 4. Comparison of thrust equivalent efficiency

幅值/(°)	前游等效效率	倒游等效效率
20
30
40

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