• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (3): 1-7.

• 论文 •    下一篇



  1. 哈尔滨工业大学机器人技术与系统国家重点实验室
  • 发布日期:2011-02-05

Effect of Kinematic Behavior of Caudal Fin on Fishlike Robot Propulsion during Steady Swimming

CHEN Weishan;XIA Dan;LIU Junkao;SHI Shengjun   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology
  • Published:2011-02-05

摘要: 将速度收敛算法应用于仿鱼机器人自主游动的数值模拟研究中,以鱼体静止为初始条件,通过检验游动过程中的作用力动态修正游动速度,使其收敛到稳态值,进一步在收敛速度的基础上,研究尾鳍运动行为对仿鱼机器人稳态游动性能的影响,揭示其推进机理和流场结构。计算结果表明,改变尾鳍运动的相位差和最大击水角度,采用速度收敛算法可以有效地预测仿鱼机器人的稳态游动速度,进而获得尾鳍运动行为与稳态游动的推进力、功率消耗和推进效率的映射关系,三维流场结构清晰地反映了尾鳍运动行为对尾迹结构、尾迹强度的影响机制。研究结果对于预测仿鱼机器人的稳态游动速度,揭示尾鳍运动行为对仿鱼机器人稳态游动性能的影响机制,设计仿鱼机器人的运动参数具有重要意义。

关键词: 仿鱼机器人, 尾鳍运动行为, 稳态游动性能

Abstract: The speed convergence algorithm is applied in the numerical simulation of a fishlike robot in self-propelled swimming. All simulations are started with the body at rest, the swimming speed is dynamically modified to converge to the steady value by verifying the fluid forces during the swimming process. The effects of kinematic behavior of caudal fin on fishlike robot propulsion are numerical investigated in the converged steady speed, while the propulsive mechanism and flow field structure are revealed. The results show that the steady speed can be predicted validly by using the speed convergence algorithm, while the relation between the kinematic behavior and the propulsion, power consumption and propulsive efficiency can be obtained through varying the phase difference and the maximum angle of attack. The effects of kinematic behavior of caudal fin on the wake structure and wake strength are clearly reflected in the three dimensional flow field structures. The findings are of great significance to the swimming speed prediction, effect of kinematic behavior on fishlike robot propulsion as well as the motion parameter design for fishlike robot.

Key words: Fishlike robot, Kinematic behavior of caudal fin, Steady swimming performance