仿生机器鱼胸鳍波动与摆动融合推进机制建模及实验研究

Modeling and Experimental Research of Integrating Propulsion Mechanism of Pectoral Fin's Fluctuation and Swing for the Biomimetic Robotic Fish

为研制出高性能仿生水下推进器,文中以魟鱼为仿生原型,并借鉴摆动模式鱼类推进机制,提出了一种胸鳍波动与摆动融合推进机制的新型推进方式。设计了仿生机器鱼的机械结构与控制系统,建立了融合胸鳍波动与摆动推进机制的动力学模型,在理论分析的基础上,实验研究了平均推进力和游动速度与摆动胸鳍面积和频率、幅值等运动参数之间的关系。研究结果表明,理论计算值与实验结果的变化趋势相同,仿生机器鱼的平均推进力与平均游动速度随摆动胸鳍面积增大而先增大后减小,随频率、幅值的增大呈线性递增关系,最大平均推进力达2.8 N,最大游速达121 mm/s。文中所做研究可为改善机器鱼的游动性能提供参考。

For developing a high-performance biomimetic underwater thruster, this paper takes stingray as a biomimetic prototype and learns from the fish’s swing-mode propulsion mechanism to propose a new type of propulsion mode that integrates pectoral fin’s fluctuation and swing propulsion mechanisms. The mechanical structure and control system of the biomimetic robotic fish are designed, and a dynamic model integrating the pectoral fin’s fluctuation and swing propulsion mechanisms is built. Based on the theoretical analysis, the relations of the average propulsive force and swimming speed with the motion parameters such as area of swinging pectoral fin, the swing frequency, and amplitude are studied experimentally. The results show that the theoretical calculations and the experimental results have the same tendency;the average propulsive force and the average swimming speed of the robotic fish increase first and then decrease with the increase of the swing pectoral fin area, and they increase linearly with the swing frequency and amplitude increasing-the maximum average propulsive force reaches to 2.8 N, and the maximum swimming speed reaches to 121 mm/s. The research may provide a reference for improving swimming performance of the robotic fish.