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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0.64m/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.
A design model of bionic robot fish propelled by pectoral fins was proposed and hydrodynamic experiments were carried out.First, according to the motion and structure characteristics of pectoral fins of bionic objects, a flapping-wing robot fish driven by DC servo motor , And then designed a thrust test experimental device to test the thrust and power consumption of robotic fish at the low speed water hole of the robotics center of Beihang University. The thrust coefficients and the efficiency of the robotic fish were obtained as a function of Sr (Strouhal number) The experimental results show that both the maximum thrust coefficient and the efficiency reach at Sr = 0.4, which is in agreement with the range of Sr in the previous studies on the efficient propulsion and flight of living creatures.The free-flight experiment of robotic fish further verified that the water hole Compared with domestic and overseas similar biomimetic robotic fish, the results of the force-measuring experiment show that the maximum voyage speed can reach 0.64m / s, about 1.5 times the body-length ratio, and the experimental results show that the bionic design model can well simulate Propulsive way of bovine rhinoceros, which greatly improves the speed of pectoral fin flapping wing robot fish, provides a train of thought for the design of bionic underwater craft.