摘要
通过对蝠鲼外形参数的设计和胸鳍变形机理的研究,研制了仿生蝠鲼机器鱼BH-RAY3。该机器鱼具有双柔性胸鳍,翼展620 mm,身长400 mm,最大航速1.09 DLS,外形阻力小,通过尾舵实现升降及转向。对BH-RAY3进行的水洞拖拽实验表明,随着拍动频率和幅度的增大,胸鳍推进力增大,在频率为1.0 Hz,幅度为24°时达到1.452 N;其次,对胸鳍被动变形形态的分析表明,柔性胸鳍同时产生0.25波长的弦向波和1个波长的展向波,与蝠鲼短波长、低频率的运动特点一致,验证了设计的合理性和可行性。
The robotic manta ray BH-RAY3 is designed according to manta ray main figure outline parameters and the driving mechanism of its pectorals,which provide the thrust.With smooth shells and high maneuverability,BH-RAY3,whose span-wise is 620 mm and body length is 400 mm,could obtain a speed of 1.09 DLS.A water tunnel experiment is carried out to test the thrust from BH-RAY3 while it is swimming.The results revealed that the thrust would rise as the fin-beat frequency and magnitude is increased.With oscillational frequency 1.0 Hz and magnitude 24 °,the flexible fins could provide BH-RAY a thrust of 1.452 N.Additionally,the appearance of the fins is analyzed,whose shape is changing with time,showed that,during its oscillation,a sine wave with 0.25 wavelength along the chordwise and a full sine wave along spanwise on the fins are generated.This is just like the performance of manta rays while swimming,which confirmes the design is reasonable and feasible.
出处
《控制工程》
CSCD
北大核心
2010年第S1期127-130,共4页
Control Engineering of China
基金
863课题基金资助项目(2006AA04Z252)
关键词
蝠鲼
柔性胸鳍
机器鱼
manta ray
flexible pectoral fins
robotic fish
