仿蟹滑翔机器人水动力外形优化设计

针对一种新型仿蟹滑翔机器人,以提高其升阻比为目标开展外形优化设计研究。对数值方法进行标定,利用计算流体力学(CFD)软件Fine Marine开展仿蟹滑翔机器人初始外形水动力性能计算,给出其阻力和升力曲线;利用CAESES软件对仿蟹滑翔机器人外形进行参数化建模;基于第二代遗传算法开展仿蟹滑翔机器人外形优化计算。结果表明,相比原设计方案,优化后的仿蟹滑翔机器人外形的上浮状态和下潜状态升阻比分别提高了9.46%和7.18%,内部空间体积提升了20.41%。

Research on Hydrodynamics and Shape Optimization Design of Crab like glider robot

Aiming at a new type of the crab-like glider robot, the shape optimization design is studied with the target of improving the lift-to-drag ratio. The numerical method is calibrated. By CFD software FineMarine, the initial appearance hydrodynamic performance of the crab-like glider robot is carried out. The drag and lift curves are given. By CAESES software, the parameterized model of the appearance of the crab-like glider robot is established. The shape optimized calculation of the crab-like glider robot is carried out based on the NAGA-II. The results show that the lift-drag ratio of the shape of the crab-like glider robot under the conditions of floating and diving after the optimization rises by 9.46% and 7.18% respectively, and the volume of the internal space rises by 20.41% compared with the original design scheme.