水下长鳍波动式MPF推进模式机器人研究现状与发展趋势

Development Trend of Underwater Albacore Wave MPF Propulsion Mode Robot

自20世纪末起,水下仿生机器人就因其独特的推进模式、高效的推进效率而受到学者们广泛的研究。通过模拟千奇百怪鱼类的运动姿态,各种各样推进模式的水下仿生机器人也被开发了出来。研究人员始于身体尾鳍(body and/or caudal fin,下称BCF)推进模式的研究,再衍生到中间鳍对鳍(median and/or paired fin,下称MPF)推进模式的研究,近年来又将MPF细分为了多鳍拍动式、胸鳍扑翼滑翔式和长鳍波动式三种。文中探讨了水下长鳍波动式MPF推进模式机器人的发展起源,并且从原理、结构、材料、流体力学方面分析了近年来水下长鳍波动式MPF推进模式机器人研究现状与发展趋势。

Since the end of the twentieth century,underwater bionic robots have been widely studied by scholars because of their unique propulsion mode and efficient propulsion efficiency.By simulating the movement posture of a variety of strange fish,various underwater bionic robots in various propulsion modes have also been developed.From the initial study of the BCF propulsion mode,to the later study of the MPF propulsion mode,and then the MPF is later subdivided into three types:multi-fin flapping type,pectoral fin flapping wing gliding type and long fin wave type.This paper discusses the development origin of underwater albacore wave MPF propulsion mode robot,and analyzes the development trend of underwater albacore wave MPF propulsion mode robot in recent years from the aspects of principle,structure,material and fluid mechanics.