基于环形长鳍波动推进的仿生水下机器人设计

摘要

This paper takes bottom-living stingrays swimming in rajiform as bionic objects to design an underwater bionic robot based on annular long-fin undulating propulsion and on the basis of analyzing its pectoral muscle and skeletal structure,establishes a sim-plified model of the flexible pectoral fin movement,presents an underwater bionic robot design scheme and then,develops a proto-type of the an underwater bionic robot and tests its straight line-tracking,spot turn and dynamic snorkeling movement.Results indi-cate that its swimming velocity can reach 45 mm/s when undulation frequency, pterygiophore angle of swing and unilateral wave number of straight line-tracking are 0.8 Hz,±20° and 1.25 respectively.In addition,if the annular long-fin wave number is 2,velocity for spot turn is able to reach 42.8°/s.The state of the swimming shows that the stability and mobility of the bionic prototype swimming movement depends on the annular long fin.%以鳐科模式游动的底栖鱼类魟鱼为仿生对象,设计了一种基于环形长鳍波动推进的仿生水下机器人.在分析其胸鳍肌肉和骨骼结构的基础上,建立了柔性胸鳍运动的简化模型,提出了一种仿生水下机器人设计方案.研制了仿生水下机器人样机,并进行了直线巡游、原地转弯和动态浮潜游动试验.结果表明:在波动频率0.8 Hz,鳍条摆角±20°,直线巡游单侧波数1.25时,其游动速度可达45 mm/s;在环形长鳍波数为2时,原地转弯的速度可达42.8°/s;游动状态表明仿生样机依靠环形长鳍能实现高稳定性和高机动性的游动运动.