基于平行四连杆的水下牵引机下限位随动机构设计与仿真分析

Design and Simulation Analysis of Lower Limit Follow-up Mechanism of Submerged Glider Based on the Parallel Four-bar Linkage

波浪滑翔器是一种新型水面无人观测平台,通过水下牵引机中水翼被动摆动获取波浪能来产生前向推力。通过分析常规波浪滑翔器水下牵引机的脐带缆倾斜角造成的波浪能损失现象,设计了一种水翼摆动下限可以随脐带缆倾斜角的变化而改变的水翼摆动机构——下限位随动机构。首先,通过计算流体力学软件Fluent仿真分析了下限位随动机构对于水翼摆动角度的调节能力;其次,通过在常规水下牵引机内部加装一套平行四边形传动机构,设计了下限位随动机构原理样机,并通过搭建大型波浪模拟测试平台进行水池试验,验证了下限位随动机构原理样机的推进性能。研究表明,所提新型水翼摆动机构可以很好地提升水下牵引机的推进性能。

The wave glider is a new type of unmanned observation platform on water surface, which can generate forward thrust by obtaining wave energy through the swing of submerged glider′s hydrofoils. By analyzing the wave energy loss caused by the umbilical cable inclination angle of the submerged glider of the conventional wave glider, a hydrofoil swing mechanism that can change the lower limit of hydrofoil swing with the change of the umbilical cable inclination angle is designed. Firstly, the adjustment ability of the lower limit follow-up mechanism to the hydrofoil swing angle is simulated and analyzed by the computational fluid dynamics software Fluent;secondly, the prototype of the lower limit follow-up mechanism is designed by adding a set of parallelogram transmission mechanism in the conventional submerged glider. A large wave simulation test platform is setup and the propulsion performance of the prototype is verified by pool tests. The research shows that the new hydrofoil swing mechanism can improve the propulsion performance of the submerged glider.