弹性装置提高机器鱼推进效率的研究

Improvement of the Thrust Efficiency of Robotic Fish with Added Spring

摘要: 以James Lighthill的鱼类的细长体理论为基础，利用能量守恒定理、动量定理和波动理论来分析计算仿生机器鱼在推进中的效率．建立了以尾鳍弹性元件阻尼系数为参数的推进效率公式．对推进效率进行了数值仿真．通过仿真分析得出尾鳍增加弹性元件使大型水下推进器的推进效率大为提高，对将来大型水下自动航行器（AUV）的进一步研制提供了一个新的思路．

Abstract: On the basis of the slender body theory of James Lighthill, this paper calculates the thrust efficiency of robotic fish with the law of conservation of energy, the law of momentum and the law of wave. The equation of thrust efficiency with the parameterized spring coefficient is established and the equation is simulated. Simultion results show that the efficiency of large robotic fish can be increased greatly by adding spring. It may be a new idea for the research of large scale autonomous underwater vehicle.