仿蝠鲼胸鳍推进执行机构水动力特性分析
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摘要
针对仿生蝠鲼机器人胸鳍推进执行机构的结构特征,文章提出了仿生蝠鲼胸鳍运动学方程和二维水动力学模型,并基于Fluent软件和动网格技术,通过编写UDF程序控制二维截面运动,对仿生蝠鲼胸鳍二维水动力模型进行求解;通过仿真与实验数据的对比,验证了该仿真方法具有很高的可信度,仿真分析得到的仿蝠鲼胸鳍推进执行机构的相关水动力学特性为仿蝠鲼胸鳍摆动机构优化设计提供了参考;研究了波幅包络线函数、急回特性和斯特哈尔数对推进性能的影响,并通过比较各参数对推力和升力的影响,最终得到仿生蝠鲼机器人胸鳍推进执行机构的部分参数选择依据。
The equations of kinematic and two-dimensional hydrodynamic model are established according the structure and moving characteristics of pectoral fin actuator for the bionic manta ray.The motion is controlled by a UDF program and the hydrodynamic model is solved by using the Fluent software with dynamic mesh technology.By comparing the simulation and experimental data,it is proved that the simulation method has high reliability.Then the hydrodynamic characteristics about the pectoral fin actuator are obtained from the simulation result,which provide suggestions for the optimum design of the biomimetic pectoral fin actuator.The effect of the amplitude envelope function,quick return characteristics and Strouhal number on propulsion performance is studied.The laws about parameters selection for the design of the biomimetic pectoral fin actuator are obtained through comparing and analyzing its thrusts and lift forces yielded under different conditions.
The equations of kinematic and two-dimensional hydrodynamic model are established according the structure and moving characteristics of pectoral fin actuator for the bionic manta ray.The motion is controlled by a UDF program and the hydrodynamic model is solved by using the Fluent software with dynamic mesh technology.By comparing the simulation and experimental data,it is proved that the simulation method has high reliability.Then the hydrodynamic characteristics about the pectoral fin actuator are obtained from the simulation result,which provide suggestions for the optimum design of the biomimetic pectoral fin actuator.The effect of the amplitude envelope function,quick return characteristics and Strouhal number on propulsion performance is studied.The laws about parameters selection for the design of the biomimetic pectoral fin actuator are obtained through comparing and analyzing its thrusts and lift forces yielded under different conditions.
引文
[1]陈强.水下无人航行器[M].北京:国防工业出版社,2014.
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[4]王扬威,王振龙,李健,等.形状记忆合金驱动仿生蝠鲼机器鱼的设计[J].机器人,2010,32(2):256-261.
[5]李吉,毕树生,高俊,等.仿生蝠鲼机器鱼BH-RAY 3的研制及水力实验[J].控制工程,2010,17(增刊1):127-130.
[6]ZHOU C L,LOW K H.Design and locomotion control of a biomimetic underwater vehicle with fin propulsion[J].IEEE/ASME Transactions on Mechatronics,2012,17(1):25-35.
[7]ZHOU C L,LOW K H.Better endurance and load capacity:an improved design of manta ray robot(RoMan-Ⅱ)[J].Journal of Bionic Engineering,2010,7(sup1):137-144.
[8]SUZUMORI K,ENDO S,KANDA T,et al.A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot[C]//IEEE International Conference on Robotics and Automation.[S.l.]:IEEE,2007:4975-4980.
[9]ANDO Y,KATO N,SUZUKI H,et al.Elastic pectoral fin actuators for biomimetic underwater vehicles[C]//The 16th International Offshore and Polar Engineering Conference and The 4th High-Performance Materials Symposium.[S.l.]:ISOPE,2006:260-270.
[10]杨少波,韩小云,邱静,等.仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究[J].中国机械工程,2011,22(5):588-596.
[11]IMAN B,FOTIS S.Numerical investigation of the by drodynamics of carangiform swimming in the transitional and inertial flow regimes[J].Journal of Expcrimental Biology,2008,211(10):1541-1558.
[12]杨少波.牛鼻鲼泳动动力学分析与仿生机器鱼研究[D].长沙:国防科技大学,2010.
[13]SCHOUVEILER L,HOVER F S,TRIANTAFYLLOU M S.Performance of flapping foil propulsion[J].Journal of Fluids and Structures,2005,20(7):949-959.
[2]MOORED K W,QUINN D B.Analytical model to describe the pectoral fin kinematics of the manta birostris:implications for bio-inspired design[J].Integrative and Companrative Biology,2011,5(3):E95.
[3]MOORED K W,KEMP T H,HOULE N E,et al.Analytical predictions,optimization,and design of a tensegritybased artificial pectoral fin[J].International Journal of Solids&Structures,2011,48(22/23):3142-3159.
[4]王扬威,王振龙,李健,等.形状记忆合金驱动仿生蝠鲼机器鱼的设计[J].机器人,2010,32(2):256-261.
[5]李吉,毕树生,高俊,等.仿生蝠鲼机器鱼BH-RAY 3的研制及水力实验[J].控制工程,2010,17(增刊1):127-130.
[6]ZHOU C L,LOW K H.Design and locomotion control of a biomimetic underwater vehicle with fin propulsion[J].IEEE/ASME Transactions on Mechatronics,2012,17(1):25-35.
[7]ZHOU C L,LOW K H.Better endurance and load capacity:an improved design of manta ray robot(RoMan-Ⅱ)[J].Journal of Bionic Engineering,2010,7(sup1):137-144.
[8]SUZUMORI K,ENDO S,KANDA T,et al.A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot[C]//IEEE International Conference on Robotics and Automation.[S.l.]:IEEE,2007:4975-4980.
[9]ANDO Y,KATO N,SUZUKI H,et al.Elastic pectoral fin actuators for biomimetic underwater vehicles[C]//The 16th International Offshore and Polar Engineering Conference and The 4th High-Performance Materials Symposium.[S.l.]:ISOPE,2006:260-270.
[10]杨少波,韩小云,邱静,等.仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究[J].中国机械工程,2011,22(5):588-596.
[11]IMAN B,FOTIS S.Numerical investigation of the by drodynamics of carangiform swimming in the transitional and inertial flow regimes[J].Journal of Expcrimental Biology,2008,211(10):1541-1558.
[12]杨少波.牛鼻鲼泳动动力学分析与仿生机器鱼研究[D].长沙:国防科技大学,2010.
[13]SCHOUVEILER L,HOVER F S,TRIANTAFYLLOU M S.Performance of flapping foil propulsion[J].Journal of Fluids and Structures,2005,20(7):949-959.