仿生蓝点魟的结构设计及建模

摘要

为了研制高机动性和高游动稳定性的水下推进器用于搜救任务、环境监测、资源勘查、军事侦察等,同时考虑到当前螺旋桨推进器对水生生物栖息环境的严重影响,选择了隶属于鳐科鱼类的蓝点魟作为仿生对象,并利用仿生学工程原理,开发出了高性能的仿生机器蓝点魟模型。介绍了活体生物的观察结果,分析了仿生蓝点魟的机构设计原理和方法,建立仿生蓝点魟的坐标系,给出了该坐标系下仿生蓝点魟鳍条摆动及鳍面波动的运动学和动力学方程。实验结果显示：仿生蓝点魟能够实现无半径转弯,游动过程鱼体基本保持稳定的姿态,对周边流体的扰动也非常小。%To develop an underwater propulsor with high maneuverability and stability for the purpose of search and rescue,environment monitoring,resource detecting and military reconnoitering etc,as well as considering the badly effect on aquatic organism by modern screw propeller,the bluespotted ray was selected as bionic object upon extensive investigations and analysis on various fishes.Through principle of biomimetic engineering,a high performance biomimetic bluespotted ray model was developed.Firstly,we presented a brief introduction to the live bluespotted ray.Then,a detailed analysis on mechanical design principles and methods was conducted.Finally,a coordinate system was established to determine the kinematic and hydrodynamic equations of both oscillating fin ray and undulating fin.These works provide a theoretical basis for developing a high performance underwater propulsor.The initial experimental results illustrated that： the biomimetic bluespotted ray were able to achieve no-radius turning,its body could hold a stable posture during cruising and disturb surrounding fluid less.