两关节仿生水下航行器SPC-Ⅲ的推进与机动性

梁建宏; 郑卫丰; 文力; 王田苗; 刘永军

两关节仿生水下航行器SPC-Ⅲ的推进与机动性

1.
北京航空航天大学机器人研究所,北京,100191
2.
南京国际关系学院,江苏,南京,210039

详细信息

作者简介:
梁建宏（1977- ），男，博士，讲师.研究领域：仿生机器人，微小型飞行器．
郑卫丰（1986- ），男，硕士生.研究领域：仿生航行器控制．
文力（1982），男，博士生.研究领域：仿生机器鱼动力学.

通信作者:
郑卫丰

中图分类号: TH39
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出版历程
- 收稿日期: 2009-12-14
- 修回日期: 2010-08-03
- 发布日期: 2010-11-14

Propulsion and Maneuvering Performances of Two-Joint Biorobotic Autonomous Underwater Vehicle SPC-Ⅲ

1.
Robotics Institute, Beihang University, Beijing 100191, China
2.
Nanjing University of International Relations, Nanjing 210039, China

摘要

摘要: 为评估尾鳍推进机构的实用性，以SPC-Ⅲ机器鱼作为研究平台，在同等排水量下分别使用尾鳍推进器和螺旋桨推进器，比较两者的功率和机动能力．在海试条件下，对尾鳍推进器和螺旋桨推进器的功率及机动性进行了测试，表明前者的转弯半径约为后者的2/5，在2.2kn速度下，前者的功率比后者低约7%．SPC-Ⅲ仿生水下航行器携带多参数水质探测仪在太湖完成了航程为49km的水质探测实验，得到了太湖水域的蓝绿藻浓度分布数据．
- 仿生机器人 /
- 水下航行器 /
- 仿生推进
Abstract: In order to evaluate the practicability of the caudal fin thruster,SPC-Ⅲbiorobotic autonomous underwater vehicle(AUV) is taken as the research platform,the power and mobility of a caudal fin thruster and a screw propeller are compared under the condition of the same tonnage.The sea trial results about the power and mobility of the caudal fin thruster and the screw propeller show that the turning radius of the former is about 2/5 of that of the latter and the power consumption of the former is less about 7%than that of the latter at the speed of 2.2kn.Using caudal fin propulsion and carrying water quality multiprobes,SPC-Ⅲhas successfully performed a 49 km probe experiment and collected concentration distributing data of blue-green algae in the water of Taihu Lake.
- biorobotics /
- underwater vehicle /
- bionic propulsion

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参考文献(15)

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