摘要
为了研究仿生力学在非定常流动中的应用,针对刚性胸鳍建立了二自由度运动模型,设计了实现二自由度运动模式的仿胸鳍操纵系统的实验装置.胸鳍推进系统主体由两个伺服电机控制系统组成,能够产生限定范围内的各种预定的摇翼运动和前后拍翼运动的组合.研究耦合运动的相位差、摆动频率、滚转幅值、拍动幅值、滚转偏角、拍翼偏角等参数对胸鳍水动力性能的影响,得到各水动力系数在一个周期内随时间的变化趋势.实验结果为研发高机动仿生水下机器人奠定了技术基础.
In order to research the bionic mechanics in unsteady flow,a two-degree of freedom（DoF） motion model was established for a rigid pectoral fin,and the experimental device named imitating pectoral fin system for the propulsive system was developed.This fin propulsive system consists of two servomotors and can realize various demanded feathering lead-lag coupling motions within the system limitation.During the experiment,the effects of phase difference,oscillating frequency,oscillating amplitudes and angular bias on the hydrodynamic performances were studied.The hydrodynamic coefficients against time in a cycle were obtained and analyzed.The study provides a foundation for the development of small underwater bio-robot.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2010年第7期1141-1144,共4页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(50579007
50879014)
关键词
仿生推进系统
胸鳍
二自由度
水动力性能
bionic propulsion system
pectoral fin
2-DoF
hydrodynamic performance
