摘要
尾鳍摆动幅值和频率是影响尾鳍推进仿生机器鱼游动速度的重要因素,为提高此类机器鱼的游动速度,设计了一种具有快速摆动能力的新型机器鱼尾部推进机构.在此基础上,首先分别分析了尾鳍形状、尾鳍柔性以及尾鳍摆动频率等参数对仿生机器鱼推进性能的影响;进而分别在相同摆动频率以及相同功率消耗的条件下对8种不同尾鳍的推进速度进行了比较.实验结果表明:在平均消耗功率20 W的条件下,展弦比为4.2、鳍条碳棒直径为0.7mm的月牙形尾鳍推进速度最快,其推进速度可达730mm/s,约为2.2倍体长/s.
The amplitude and frequency of caudal fin are two main factors which affect the swimmingspeed of robotic fish. Therefore,a new propulsion mechanism of caudal fin,which can oscillatequickly, is proposed to improve the swimming speed of robotic fish. On this basis, it is firstanalyzed by experiments that how the parameters such as the shape,flexibility and oscillating frequencyof caudal fin affect the propulsion performance of robotic fish. Furthermore, the swimmingspeeds propelled by 8 different caudal fins are compared under the same oscillating frequencyand the same power consumption, respectively. The results of experiments show that as the averagepower consumption is 20W ,the caudal fin,whose aspect ratio equals to 4. 2 and carbon rod diameterof fin ray is 0. 7 mm, can propel the robotic fish swimming up to 730 mm/s ,i. e. ,2. 2 bodylength/s.
出处
《兰州交通大学学报》
CAS
2016年第3期18-23,共6页
Journal of Lanzhou Jiaotong University
基金
国家自然科学基金(61064008)
教育部科学技术研究重点项目(211185)
甘肃省青年科技基金(148RJYA009)
关键词
机器鱼
摆动机构
尾鳍推进
游动速度
robotic fish
oscillating mechanism
caudal fin propulsion
swimming speed
