机械胸鳍式仿生水下机器人的动力学特性研究

对新近研制的仿生水下机器人Robo—Mackerel，建立其在胸鳍摆动模式下游动的物理模型，并给出机械胸鳍摆动的运动方程。利用库达-儒柯夫斯基定律和二维叶素理论，分析Robo—Mackerel巡游时受到的流体作用力。通过动力学仿真，计算Robo—Mackerel的游速、推进力、瞬时功率和平均效率等水下推进性能指标。为有效地提高Robo—Mackerel的水下推进性能，分析讨论了机械胸鳍摆动各运动学参数和上述指标的关系，并提出各运动学参数的最优值。

Study of dynamics property of mechanical pectoral fin typed under water bio-robot

His paper established the physics model for the newly developed under water bio-robot Robo-Mackerel moving about under the pattern of the swinging of its pectoral fin, and the motion equation of the swinging of mechanical pectoral fin was presented. By utilizing the Kutta-Joukowski law and two dimensional vane-element theory, the acting force of fluid borne upon the cruising Robo-Mackerel was analyzed. By means of dynamics simulation the targets of propulsive performance under water as the swimming speed, propulsion force, instantaneous power and average efficiency etc. were calculated. For the sake of raising the under water propulsion properties of Robo- Mackerel, An analytical discussion was made on the relationships of each dynamics parameters of the swinging of mechanical pectoral fin and the above stated targets, and the optimal value of each dynamics parameters were proposed.