不同水下仿生推进器性能影响的比较

Comparative Study on the Propulsive Performance of Underwater Bionic Thrusters With Different Transmission Methods

各种模拟鱼类游动的水下仿生推进器,较传统的螺旋桨推进器有着低噪音、低扰动、高效率等突出优点。决定仿生推进器各个性能的重要因素之一,就是仿生推进器内部运动和动力的传动方式。比较分析了采用功能材料驱动、摆动舵机直接驱动、旋转伺服电机加运动变换机构驱动、液压传动等不同传动方式下仿生推进器的结构特点、运动自由度、推进性能,以及适应负载变化的特性,最后指出液压传动是一种综合性能较好的传动方式。液压传动的仿生推进器初步试验表明,该传动方式的结构简单紧凑、驱动能力强、可移植性好、具有优良的动力特性,有着广阔的应用前景和研究价值。

Imitating fish swimming motion, the underwater bionic thruster has excellent characteristics to traditional screw thruster, such as low noise, little disturbance of the fluid and high swimming efficiency. One of the most important factors affecting the bionic thruster performance is the transmission method of motion and power. In this paper, the bionic thruster structure, moving freedom, propulsive velocity and force, and the adaptive ability of load are discussed among different transmission methods, such as SMA, artificial muscle, swinging motor, rotating motor with a motion transforming machine, and the fluid drive. Finally, the analysis shows that, the fluid drive is found a comprehensive balanced method with several advantages. The experiments of the bionic thruster driven by hydraulic system reveal that the fluid drive method has a simple and compact structure, with powerful propulsion, easy transplant and wonderful dynamic character, so it will gain much attention in the future research work.