机器鳕鱼胸鳍/尾鳍协同推进直线游动动力学建模与实验研究

设计了一种二自由度胸鳍/尾鳍协同推进的仿生机器鳕鱼,其胸鳍推进机构不仅能够单独实现前后拍翼运动、摇翼运动以及两者的复合运动,而且还可与尾鳍实现协同推进,进而分别建立了胸鳍单独推进、胸鳍/尾鳍协同推进时的水动力学模型。数值仿真及实验结果均表明,胸鳍复合运动与尾鳍协同推进时,仿生机器鱼游速最快,可达0.30 m/s,胸鳍摇翼运动推进时游速最低,仅为0.05 m/s,其他推进方式的游速介于二者之间,但均能够实现稳定的游动。与现有结果相比,所设计仿生机器鱼直线游动模态多样,稳定游速可选范围较宽,机动性较好。

Dynamic modeling and experimental research on the linear swimming of a biomimetic cod fish driven by pectoral fin with two degrees of freedom and flexible body

Designing a novel biomimetic robotic Codfish in which namely driven by 2-DOF(degree of free-dom)pectoral-fins and caudal fin, the pectoral fins can achieve flapping, swaying, the composite motion of them and collaborating locomotion with caudal fin, separately. And then, the straight swimming hydrody-namics model is established when fish is driven by bilateral pectoral fins, or by pectoral fins and caudal fin together. The numerical simulation and experimental results, show that the maximum velocity of straight swimming achieves at 0.30 m/s by pectoral fins and flexible body together, and the minimum velocity is 0.5 m/s by pectoral fins'swaying, other's velocity of propulsion methods lie between the two cases, but are able to achieve a stable swimming. Compared with the existing results, the designed robotic fish have more abun-dant modes, wide speed range with better stability and better mobility.