北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (3): 344-350.

• 论文 • 上一篇    下一篇

胸鳍扑翼式机器鱼的设计及水动力实验

高俊, 毕树生, 李吉, 蔡月日   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2010-01-25 出版日期:2011-03-31 发布日期:2011-04-01
  • 作者简介:高 俊(1983-),男,湖南汨罗人,博士生,johngao2006@163.com.

Design and hydrodynamic experiments on robotic fish with oscillation pectoral fins

Gao Jun, Bi Shushing, Li Ji, Cai Yueri   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-01-25 Online:2011-03-31 Published:2011-04-01

摘要: 提出了一种基于胸鳍拍动推进的仿生机器鱼的设计模型,并对其进行了水动力实验研究.首先根据仿生对象的胸鳍运动和结构特点设计了由直流伺服电机驱动的扑翼式机器鱼,然后设计了推力测试实验装置,在北京航空航天大学机器人所的低速水洞中完成了机器鱼的推力和功耗测试实验,获得了推力系数和效率随Sr(斯特劳哈尔数)变化的曲线.实验结果表明最大推力系数和效率都在Sr=0.4时达到,该结果与前人关于游动和飞行生物保持高效推进时Sr的范围一致.机器鱼的自由航行实验进一步验证了水洞测力实验结果,最大航行速度可达0.64 m/s,约1.5倍身长比,相比国内外的同类仿生机器鱼具有较大的速度优势.实验结果表明:该仿生设计模型可以很好地模拟牛鼻鲼的推进方式,较大提高胸鳍扑翼式机器鱼的速度,为仿生水下航行器的设计提供了一种思路.

Abstract: A robotic fish propelled by a pair of pectoral fin with oscillation motion was proposed, and experiments were carried out to study the hydrodynamic characteristic. Based on the analysis of motion feature and skeletal structure of pectoral fin of cownose ray, a kind of robotic cownose ray actuated by two DC servo-motors is implemented. A measurement device is designed to test the thrust force and efficiency in the low-speed water tunnel, and the relationship of thrust coefficient and efficiency varying with Sr(Strouhal number) was obtained. Both the maximum thrust coefficient and the maximum efficiency are achieved at the same Sr of 0.4, which is in good agreement with the Sr range of swimming or flying animals- propulsion at high efficiency. Finally, an experiment of free swimming was conducted in a swimming pool, and it demonstrated that the maximum speed of 0.64 m/s (1.5 times body-length) was achieved, which was faster than that of other ray-like- robotic fishes. The results indicate that the design method is effective for building a robotic fish propelled by pectoral fins with fast speed, which is meaningful to implement a kind of UUV(unmanned underwater vehicle) by employing the propulsion mode of cownose ray.

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