互补对称摆线推进器的平面复合运动试验研究

doi:10.3901/JME.2023.11.171

机械工程学报 ›› 2023, Vol. 59 ›› Issue (11): 171-178.doi: 10.3901/JME.2023.11.171

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互补对称摆线推进器的平面复合运动试验研究

夏丹¹, 周旭峰¹, 杨光宗¹, 陈维山²

1. 东南大学机械工程学院南京 210096;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080

收稿日期:2022-06-06 修回日期:2022-11-25 出版日期:2023-06-05 发布日期:2023-07-19
通讯作者: 夏丹(通信作者),男,1982年出生,博士,副教授,博士研究生导师。主要研究方向为仿生机器人、水下机器人及其推进技术。E-mail:dxia@seu.edu.cn
作者简介:周旭峰,男,1997年出生,硕士研究生。主要研究方向为水下机器人及其推进技术。E-mail:z1023778132@icloud.com;杨光宗,男,1998年出生,硕士研究生。主要研究方向为水下机器人及其推进技术。E-mail:yanggz_seu@163.com;陈维山,男,1965年出生,博士,教授,博士研究生导师。主要研究方向为压电与超声波驱动技术、智能机构与仿生机器人。E-mail:cws@hit.edu.cn
基金资助:
国家自然科学基金资助项目(51875101)

Experimental Study on Planar Compound Motion of Complementary Symmetric Cycloid Propeller

XIA Dan¹, ZHOU Xufeng¹, YANG Guangzong¹, CHEN Weishan²

1. School of Mechanical Engineering, Southeast University, Nanjing 210096;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080

Received:2022-06-06 Revised:2022-11-25 Online:2023-06-05 Published:2023-07-19

摘要/Abstract

摘要： 围绕海洋强国战略，发展高性能的海洋技术装备，对于提升资源开发能力以及海上国防力量具有重要意义。提出一种基于四五杆平面位置解耦机构的摆线推进器构型，对其进行运动学和力能学建模，并以此为依据研制互补对称摆线推进器样机。通过设计样机的平面复合运动工况，开展互补对称摆线推进器的公转转速、叶片展长等物理参数对样机平面复合运动性能影响的试验研究。结果表明，通过调节两个摆线推进器的前进角和转向角，可分别实现样机在平面360°范围内沿任意方向移动，以及前进中转向，甚至原地转向的功能。公转转速越高，样机的平面移动速度和推进力越大，推进效率和转弯半径对公转转速的变化并不敏感。叶片展长越长，平面移动速度和推进力越大，推进效率呈现先增大后减小的趋势，转弯半径无明显变化。研究结果对设计和使用摆线推进器均具有很大的指导意义和应用价值。

关键词: 摆线推进器, 互补对称配置, 平面复合运动, 四五杆机构

Abstract: The development of high-performance marine technical equipment around the strategy of marine power is of great significance for enhancing the capability of resource development and maritime national defense. A configuration of a cycloid thruster based on the decoupling mechanism of four or five rod plane positions is proposed, and its kinematics and energetics are modeled. Based on this, a complementary symmetrical cycloid thruster prototype is developed. By designing the plane compound motion condition of the prototype, an experimental study is carried out on the influence of the orbital speed, blade length and other physical parameters of the complementary symmetrical cycloid thruster on the plane compound motion performance of the prototype. The results show that by adjusting the advancing angle and steering angle of the two cycloid thrusters, the prototype can move in any direction within the range of 360° on the plane, and turn while advancing, and even turn in situ. The higher the revolution speed, the greater the plane moving speed and propulsion force of the prototype, and the propulsion efficiency and turning radius are not sensitive to the change of revolution speed. The longer the blade length is, the greater the plane moving speed and the propulsion force. The propulsion efficiency first increases and then decreases, and the turning radius does not change significantly. The results have great guiding significance and application value for the design and use of cycloid thrusters.

Key words: cycloid propeller, complementary symmetrical configuration, planar compound motion, four-five-bar mechanism

中图分类号:

TH39
U664

夏丹, 周旭峰, 杨光宗, 陈维山. 互补对称摆线推进器的平面复合运动试验研究[J]. 机械工程学报, 2023, 59(11): 171-178.

XIA Dan, ZHOU Xufeng, YANG Guangzong, CHEN Weishan. Experimental Study on Planar Compound Motion of Complementary Symmetric Cycloid Propeller[J]. Journal of Mechanical Engineering, 2023, 59(11): 171-178.

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互补对称摆线推进器的平面复合运动试验研究

Experimental Study on Planar Compound Motion of Complementary Symmetric Cycloid Propeller

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