| 仿生蝠鲼机器鱼BH-RAY3的研制及水力实验 |
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| 引用本文： | 李吉,毕树生,高俊,郑礼成. 仿生蝠鲼机器鱼BH-RAY3的研制及水力实验[J]. 控制工程, 2010, 0(Z1) |
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| 作者姓名： | 李吉 毕树生 高俊 郑礼成 |
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| 作者单位： | 北京航空航天大学机器人研究所; |
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| 基金项目： | 863课题基金资助项目(2006AA04Z252) |
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| 摘 要： | 通过对蝠鲼外形参数的设计和胸鳍变形机理的研究,研制了仿生蝠鲼机器鱼BH-RAY3。该机器鱼具有双柔性胸鳍,翼展620 mm,身长400 mm,最大航速1.09 DLS,外形阻力小,通过尾舵实现升降及转向。对BH-RAY3进行的水洞拖拽实验表明,随着拍动频率和幅度的增大,胸鳍推进力增大,在频率为1.0 Hz,幅度为24°时达到1.452 N;其次,对胸鳍被动变形形态的分析表明,柔性胸鳍同时产生0.25波长的弦向波和1个波长的展向波,与蝠鲼短波长、低频率的运动特点一致,验证了设计的合理性和可行性。
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| 关 键 词： | 蝠鲼 柔性胸鳍 机器鱼 |
Development and Hydrodynamics Experiments of Robotic Manta Ray BH-RAY3 |
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| LI Ji,BI Shu-sheng,GAO Jun,ZHENG Li-cheng. Development and Hydrodynamics Experiments of Robotic Manta Ray BH-RAY3[J]. Control Engineering of China, 2010, 0(Z1) |
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| Authors: | LI Ji BI Shu-sheng GAO Jun ZHENG Li-cheng |
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| Affiliation: | Robotics Institute/a>;Beijing University of Aeronautics and Astronautics/a>;Beijing 100191/a>;China |
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| Abstract: | The robotic manta ray BH-RAY3 is designed according to manta ray main figure outline parameters and the driving mechanism of its pectorals,which provide the thrust.With smooth shells and high maneuverability,BH-RAY3,whose span-wise is 620 mm and body length is 400 mm,could obtain a speed of 1.09 DLS.A water tunnel experiment is carried out to test the thrust from BH-RAY3 while it is swimming.The results revealed that the thrust would rise as the fin-beat frequency and magnitude is increased.With oscillation... |
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| Keywords: | manta ray flexible pectoral fins robotic fish |
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