柔性波动鳍两栖机器人鳍面结构设计与运动仿真

The Structural Design and Motion Simulation of the Flexible Undulating Fins on the Amphibious Robot

随着我国海洋资源的开发与周边军事安全的地位不断提高,水陆两栖仿生机器人对于完成复杂任务与工作而言越来越重要。本文提出了一种柔性波动鳍仿生机器人的结构型式,根据波动推进原理对波动鳍结构进行了设计,针对上述结构进行建模,对柔性波动鳍水下运动性能进行了数值研究,探究其水下运动中所受力、力矩、压强以及推进速度等参数的变化规律。结果表明:波动鳍水下运动主要受到沿推进方向的力作用而前进,各个方向的所受力矩值较小且呈周期性变化,波动鳍在水下推进速度可达到0.25 m/s左右,波动鳍鳍面的高压、低压区随波动鳍的波形传播呈有规律的交替变化。

As the development of the marine resources exploration,the amphibious robots have become more and more important for completing complex missions.In this paper,an amphibious robot with novel bionic undulating fins are proposed for satisfying the requirements of the civilian fields.Based on the principle of the wave process and the conservation of momentum,the structural design of the undulating fins are analyzed by Matlab.Then,the hydrodynamic characteristics of the undulating fins are investigated through numerical simulations with dynamic mesh method.Some numerical results of the force,the torque,the velocity and the pressure of the fins are discussed.The results illustrate that the undulating fins are mainly pushed forward by the force in the propulsive direction without overturning,floating and diving motions.Besides,the hydrodynamic torque changes periodically and gradually decreases to zero.The velocity of the fin surfaces could reach 0.25 m/s which verifies the theoretical analyses.The high and low pressure regions on the fin surfaces are also changing periodically.