胸鳍摆动推进仿生鱼的设计及水动力实验

doi:10.13973/j.cnki.robot.2014.0535

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牛传猛, 毕树生, 蔡月日, 张利格, 马宏伟. 胸鳍摆动推进仿生鱼的设计及水动力实验[J]. 机器人, 2014, 36(5): 535-543.DOI: 10.13973/j.cnki.robot.2014.0535. NIU Chuanmeng, BI Shusheng, CAI Yueri, ZHANG Lige, MA Hongwei. Design and Hydrodynamic Experiments on Bionic Robotic Fish with Oscillating Pectoral Fins. ROBOT, 2014, 36(5): 535-543. DOI: 10.13973/j.cnki.robot.2014.0535.

摘要

为实现胸鳍摆动推进模式鱼类的游动，模仿牛鼻鲼构建了仿生鱼．首先，基于摆动胸鳍的生物学特征和运动规律，提出了具有主/被动复合柔性变形能力的仿生胸鳍原理模型．然后通过ADAMS 运动学仿真验证了设计方案的可行性，并构建仿生样机．自由游动实验表明，仿生鱼游速可达0.46 m/s，约1 倍身长比，且具有原地转弯能力，最大转弯速度达60°/s．与国内外其他同类机器鱼相比，在游速和机动性方面均表现出明显的优势．基于准稳态叶素理论，提出了仿生胸鳍水动力简化计算模型．构建水动力实验平台，验证了计算模型的有效性，并通过一系列水动力实验研究了仿生胸鳍的水动力特性．实验结果表明，仿生胸鳍能够产生周期性变化的推、升力，且变化趋势与胸鳍运动控制参数密切相关．

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	牛传猛
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关键词 ：摆动胸鳍, 复合柔性, 仿生鱼, 水动力实验

Abstract：

A bionic fish mimicking Cownose Ray is constructed to realize the similar motion of fishes swimming by oscillating pectoral fins. Firstly, a principle model of the bionic pectoral fin which combines the active and passive composite flexible deformation abilities is initially proposed based on biological properties and motion laws of oscillating pectoral fins. Then, the design feasibility is verified by kinematics simulation with ADAMS, and a bionic prototype is fabricated. The free swimming tests show that the prototype has a maximum velocity of about 0.46 m/s (or 1 body length per second). What's more, the bionic fish has the pivot turning ability and the maximum turning speed is up to 60° per second. Compared with other similar robotic fishes at home and abroad, the bionic fish in this paper performs distinct advantages both at velocity and maneuverability. Based on the quasi-steady blade element theory, a simplified hydrodynamic model of the bionic pectoral fin is proposed. Then, a hydrodynamic experimental platform is built to evaluate the effectiveness of the model, and some other experiments are carried out to further study the hydrodynamic characteristics of the bionic pectoral fin. The experimental results show that the bionic pectoral fin can produce periodically changed thrust and lift forces, which are bound up with the kinematic control parameters.

Key words： oscillating pectoral fin composite flexibility bionic fish hydrodynamic experiment

收稿日期: 2013-11-05 录用日期: 2014-06-10

TH113

基金资助:

国家自然科学基金资助项目（51205011，51005006）

通讯作者: 毕树生，bissbuaa@163.com E-mail: bissbuaa@163.com

作者简介: 牛传猛（1984-），男，博士生．研究领域：仿生机器鱼，智能控制．
毕树生（1966-），男，教授，博士生导师．研究领域：仿生机构，仿生机器人（水下潜器，仿鸟扑翼飞行器），柔性精微机构等．
蔡月日（1983-），男，博士后．研究领域：仿生机构，仿生鱼．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0535 或 https://robot.sia.cn/CN/Y2014/V36/I5/535

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