复合驱动仿生胸鳍机构设计与水动力研究

针对仿鱼型海洋探测机器人低速时的机动性问题,受鹞鲼鱼类依靠胸鳍摆动实现各种水下运动的启发,设计出一种基于共融理论的复合驱动刚-柔多体耦合仿生鱼胸鳍机构。通过构建基于三维非定常湍流控制方程组的柔性鳍摆动系统水动力学模型,研究仿生胸鳍柔性鳍面摆动时周围压力和速度场的变化情况,分析不同摆动幅度和频率下鳍面的水动力学特性,揭示仿生鹞鲼机器鱼的水下运动机理,对摆动胸鳍的水动力进行仿真。结论表明:鳍面摆动时周围的漩涡能够引起胸鳍面上推力、升力及侧向力按类似正弦变化,而推进力和侧向力的大小随摆动幅值和摆动频率增加而增大。

Mechanism Design and Hydrodynamic Research of Composite Driven Bionic Pectoral Fin

For the problem of maneuverability at low speed of imitation fish type marine detection robot, inspired by the ray fish rely on pectoral fin swing to achieve a variety of underwater movement, a kind of composite drive rigid - flexible multi - body coupled bionic fish pectoral fin mechanism based on the communion theory was designed. The hydrodynamic model of flexible fin swing system based on three - dimensional unsteady turbulent fluid control equations were constructed, the hydrodynamic characteristics of the fin surface under different swing amplitude and different swing frequency are analyzed, and the mechanism of underwater movement of the fish was revealed. The hydrodynamics of the pectoral fins were simulated, and the conclusion showed that the surrounding vortex can cause similar to the sinusoidal change of the thrust, lift and lateral force of the pectoral fin surface, and the magnitude of the propulsion and lateral force increases with the amplitude and frequency of the swing.