| 新型仿生鲨鱼结构设计及操纵性分析（英文） |
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| 作者姓名： | 高立阳 李鹏 秦洪德 邓忠超 |
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| 作者单位： | 1. College of Shipbuilding Engineering, Harbin Engineering University;2. Yantai Research Institute and Graduate School of Harbin Engineering University |
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| 基金项目： | financially supported by the National Natural Science Foundation of China (Grant No. 51909040)；;the Natural Science Foundation of Heilongjiang Province (Grant No.LH2020E073)；;the Key Technology Research and Development Program of Shandong (Grant No. 2020CXGC010702)； |
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| 摘 要： | In this paper, the mechatronic design and maneuverability analysis of a novel robotic shark are presented. To obtain good maneuverability, a barycenter regulating device is designed to assist the posture adjustment at low speeds. Based on the Newton-Euler approach, an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions. The hydrodynamic coefficients are computed using computational fluid dynamics (CFD) methods.Oscillation amplitudes...
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