基于仿生鳍的两栖驱动机构运动分析

为证实一种新型两栖驱动机构合理,并为之后研究提供基础,通过运用有限体积法,将柔性三维薄板视为仿生鳍鳍进行模拟分析,在水下环境中具体研究了振幅、周期等参数对仿生鳍运动的影响并分析推进原理,发现仿生鳍运动模式与马陆倍足运动方式基本一致。陆地上的研究通过建立运动学、动力学方程进行分析。结果表明,在水下仿生鳍单参数变量为振幅时主要影响运动的最大速度,与速度呈正比关系;为周期时影响加速度,与之呈正比关系;而推进效果是由仿生鳍两侧高、低压中心产生的正压梯度所提供。在陆地上仿生鳍的约束力足以提供运动所需驱动摩擦力,从而证明仿生鳍不仅可在水中进行巡游,而且通过调整结构姿态可实现在陆地的运动,由一套驱动机构实现了两栖运动功能。

Motion Analysis of Amphibious Driving Mechanism Based on Bionic Fin

In order to verify the rationality of a new amphibious driving mechanism and provide the basis for later research, the flexible three-dimensional thin plate is regarded as the bionic fin for simulation and analysis by using the finite volume method,The influence of parameters such as amplitude and period on the motion of bionic fin is studied in detail and the propulsion principle is analyzed, and it is found that the motion mode of the bionic fin is basically the same as that of the millipede. The kinematic and dynamic equations are established to analysis. In the water the results show that the amplitude of single parameter variable mainly affects the maximum speed of the motion and is proportional to the speed, the period affects the acceleration of the motion and proportional to the acceleration. The propelling effect is provided by the positive pressure gradient generated by the high and low pressure centers on both sides of the bionic fin. On the land the results show that the binding force is enough to provide the driving friction force required by the motion. In conclusion, it is proved that the bionic fin can not only patrol in the water, but also complete the motion on the land by adjusting the structural attitude, so that just a set of the driving mechanism realizes the amphibious movement function.