水下爬游机器人坐底稳定性分析

Sink-Stability Analysis for the Underwater Walking & Swimming Robot

在简要介绍水下爬游机器人设计概念的基础上,采用计算流体力学(Computational fluid dynamics,CFD)的方法,对机器人本体建立水动力数值仿真模型,并利用ANSYS Fluent软件对其在不同洋流速度、不同本体倾角工况下的流场进行了数值模拟,得到了阻力、升力和俯仰力矩随倾角的变化曲线。同时结合动态稳定裕度法(Dynamic Stability Margin,DSM)建立适用于水下爬游机器人的稳定性分析方法,并结合数值计算结果对其稳定性进行了分析,得到不同来流环境下本体保持稳定的俯仰活动阈值。

A brief introduction to the design concept of underwater walking&swimming robot is provided in this paper.And based on the computational fluid dynamics(CFD)method,a hydrodynamic numerical simulation model for the robot body is established.Then the flow field under different body inclination conditions and different ocean currents is numerically simulated by ANSYS Fluent,and the curves of resistance,lift and pitching moment with inclination are obtained.At the same time,the stability analysis method for underwater walking&swimming robot is established by combining dynamic stability margin method(DSM),and the stability of the walking&swimming robot is analyzed.The stability of the tilting activity threshold is obtained under different inflow environments.