仿牛鼻鳐机器鱼设计与分析

Design and Analysis of A Robotic Cownose Ray

设计一种采用单电机驱动单侧胸鳍方式的牛鼻鳐机器鱼.根据牛鼻鳐身体结构和运动方式,设计长59.2 cm,宽73.6 cm,高15.6 cm的机器鱼,实现运动控制.进行运动控制分析,验证机器鱼的水平、垂直、转弯和滑翔运动.设计胸鳍鳍条运动仿真实验,验证机器鱼胸鳍鳍条弦向、展向和鳍尖运动规律.结果证明,机器鱼展向运动类似正弦规律且频率相同,弦向运动类似正弦规律且幅度相同,胸鳍鳍尖振幅为49.42°.分析和仿真表明机器鱼胸鳍的展向、弦向振动规律与牛鼻鳐胸鳍振动规律相似,能够实现滑翔功能,为进一步优化机器鱼模型和搭建机器鱼平台并进行水动力试验提供方向.

A robotic cownose ray with a single motor driving a unilateral pectoral fin was designed.According to the body structure and movement mode of the bull nose ray,a robotic fish with a length of 59.2 cm,a width of 73.6 cm,and a height of 15.6 cm was designed to achieve motion control.The motion control analysis was carried out to verify the horizontal,vertical,turning,and gliding motion functions of the robotic fish.The simulation experiment for the bar motion of the pectoral fin was designed to verify the pectoral fin bar chord,span,and tip motion rules of robotic fish.The results show that the spanwise motion of robotic fish is similar to the sine law with the same frequency,the chordwise motion is similar to the sine law with the same amplitude,and the maximum amplitude of the fin tip is 49.42°.The analysis and simulation results show that the oscillations of the pectoral fins of the robotic fish are similar to those of the ray,which can realize the gliding function,and provide direction for further optimization of the robotic fish model,construction of the robotic fish platform and the hydrodynamic test.