仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究

中国机械工程 ›› 2011, Vol. 22 ›› Issue (5): 588-591,596.

仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究

杨少波;韩小云;邱静;谢海斌

国防科学技术大学,长沙,410073

出版日期:2011-03-10 发布日期:2011-03-24
基金资助:
国家自然科学基金资助项目(50405006)；国防科学技术大学博士研究生创新基金资助项目(B060302)
National Natural Science Foundation of China（No. 50405006）

Research on Pectoral Fins Oscillating Asymmetrically in Time of a Cownose-like Robotic Fish

Yang Shaobo;Han Xiaoyun;Qiu Jing;Xie Haibin

National University of Defense Technology, Changsha, 410073

Online:2011-03-10 Published:2011-03-24
Supported by:
National Natural Science Foundation of China（No. 50405006）

摘要/Abstract

摘要：

针对以胸鳍升力模式推进的牛鼻鲼在胸鳍扇动时存在时间上的非对称摆动问题,分析了牛鼻鲼这一泳动特征的力学含义,并通过仿牛鼻鲼机器鱼开展了时间非对称摆动的研究。首先建立了时间非对称摆动的数学模型;然后在一系列的不对称系数下进行了机器鱼的泳动实验,发现存在一个不对称系数的较佳范围,并且当不对称系数为0.56时,机器鱼的泳动速度最大;最后通过机器鱼的水动力实验研究,讨论了不对称系数对水动力的影响规律。结果表明,牛鼻鲼在实际游动过程中通过上挥急回的方式拍动,特别是经常以不对称系数0.56工况方式扇动,可以获得更好的推进性能。

关键词:

胸鳍升力模式, 牛鼻鲼, 机器鱼, 时间非对称摆动, 水动力

Abstract:

Before the asymmetrical oscillation in time of Cownose-like robotic fish was discussed, the mechanic hint behind the swimming behavior was analysed. Firstly, a mathematic model of the fin rays oscillating asymmetrically in time was set up;secondly, the swimming experiments of the robotic fish with a series of asymmetric coefficients were made, and the results show that it exits a better range of asymmetric coefficients, and while asymmetric coefficients is 0.56, the robotic fish attains the best forward velocity. Finally, the hydrodynamic force of the robotic fish with these asymmetric coefficients was tested, and the relations among each other were discussed. These results will reveal that the attention of the swimming behavior of Cownose ray may improve the propulsive, especially in the case of oscillating with the 0.56 of asymmetric coefficient.

Key words:

lift-based mode of pectoral oscillation;cownose ray;robotic fish, oscillating asymmetrically in time;hydrodynamic force

中图分类号:

TP24

杨少波, 韩小云, 邱静, 谢海斌.

仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究

[J]. 中国机械工程, 2011, 22(5): 588-591,596.

YANG Shao-Bei, HAN Xiao-Yun, QIU Jing, XIE Hai-Bin.

Research on Pectoral Fins Oscillating Asymmetrically in Time of a Cownose-like Robotic Fish

[J]. China Mechanical Engineering, 2011, 22(5): 588-591,596.

参考文献

[1]Blake R W. Influence of Pectoral Fin Shape on Thrust and Drag in Labriform Locomotion[J]. J. Zool. Lond. , 1981,194:53-66.
[2]Wesmeat M W, Walker J A. Applied Aspects of Mechanical Design , Behavior, and Performance of Pectoral Fin Swimming in Fishes[C]//Proc. Special Session on Bio Engineering Research Related to Auton omous Underwater Vehicles, 10th Int. Syrup. Unmanned Untethered Submersible Technology. Durham,NH,1997: 153-165.
[3]Hewish M. Submarines to Cast off Their Shackles, Take on New Roles[J]. Jane's International De lense Review, 2002 ,3 :35-43.
[4]Hishinuma K, Konno A, Mizuno A, et al. Analysis Method of Flapping Fin Motion for Manta-like Underwater Robot[C]//Proceedings of 7th International Symposium on Marine Engineering. Tokyo, 2005 : 180.
[5]Xu YC, ZongG H, BiSS, et al. Initial Develop ment of a Flapping Propelled Unmanned Underwa ter Vehicle[C]//Proceedings of the IEEE Internt ional Conference on Robotics and Biomimetics. Pis cataway, 2007 : 524-529.
[6]Sfakiotakis M, Inane D M, Davies J B C. Review of Fish Swimming Modes for Aquatic Loeomotion[J]. IEEE J. Oceanic Eng. , 1999, 24(2): 237-252.
[7]Heine C E. Mechanics of Flapping Fin Locomotion in the Cownose Ray, Rhinoptera Bonasus (Elasmobranchii: Myliobatidae) [D]. North Carolina; Duke University, 1992.
[8]Rosenberger L J. Pectoral Fin Locomotion in Batoid Fishes, Undulation Versus Oscillation [J]. Journal of Experimental Biology, 2001, 204(2): 379-394.
[9]Hu W R. Performance of an Asymmetric Oscillating Foil[C]//The Fourth International Symposium on Aero Aqua Bio-mechanisms. Shanghai, 2009 : 1-5.
[10]Yang Shaobo, Qiu Jing, Han Xiaoyun. Kinematics Modeling and Experiment of Pectoral Oscillation Propulsion Robot Fish[J]. Journal of Bionic Engineering, 2009, 6(2) :174-179.
[11]Clark R P, Smits A J. Thrust Production and Wake Structure of a Batoid-inspired Oscillating Fin[J]. J. Fluid Mech. , 2006, 562:415-429.
[12]杨少波[1],韩小云[1],张代兵[1],邱静[1].一种新型的胸鳍摆动模式推进机器鱼设计与实现[J].机器人,2008,30(6):508-515.
[13]王铁城.空气动力学实验技术[M].北京:航空工业出版社,1995.

[1]	季晔, 刘宏昭, 原大宁, 王庚祥. 一种四自由度并联机构的性能指标分析 [J]. 中国机械工程, 2012, 23(3): 258-263.
[2]	尚伟燕1, 邱法聚2, 杨超珍1. 差速转向复合式探测机器人运动学分析 [J]. 中国机械工程, 2012, 23(2): 166-171.
[3]	丑武胜, 王朔. 基于虚拟力的冗余度机器人自主避障研究 [J]. 中国机械工程, 2011, 22(24): 2899-2902.
[4]	陈伟1, 2, 赵德安1, 梁震2. 喷涂机器人的喷枪轨迹优化设计与实验 [J]. 中国机械工程, 2011, 22(17): 2104-2108.
[5]	李冰, 汪小华, 于树林, 孙少明, 梅涛. 仿壁虎柔性脚掌结构及控制系统的研究 [J]. 中国机械工程, 2011, 22(8): 897-900.
[6]	赵韩, 尹晓红, 吴焱明. 非完整约束AGV轨迹跟踪的非线性预测控制 [J]. 中国机械工程, 2011, 22(6): 681-686.
[7]	曾勇, 龚俊. 面向自然二次曲面的喷涂机器人喷枪轨迹优化 [J]. 中国机械工程, 2011, 22(3): 282-290.
[8]	陈娟, 刘琨, 吕新生, 张晔. 电场活化聚合物卷筒型致动器设计方法研究 [J]. 中国机械工程, 2010, 21(22): 2684-2688.
[9]	尹晓红, 赵韩, 吴焱明, 熊丹. 基于生物激励神经动力学的AGV轨迹跟踪控制 [J]. 中国机械工程, 2010, 21(18): 2148-2152.
[10]	曾勇, 龚俊, 陆保印. 面向直纹曲面的喷涂机器人喷枪轨迹优化 [J]. 中国机械工程, 2010, 21(17): 2083-2089.
[11]	朱江, 王耀南, 余洪山, 许海霞, 刘理. 大型冷凝设备水下智能清洗机器人的研制 [J]. 中国机械工程, 2010, 21(15): 1830-1835.
[12]	乔晋崴, 尚建忠, 陈, 循, 罗自荣. 小口径管内机器人技术的研究进展 [J]. 中国机械工程, 2010, 21(10): 1254-1259.
[13]	汪丽芳, 余晓流, 汪永明, 高文斌, 王洪光, 王越超. 基于摇杆－转向架机构星球探测车的越障分析 [J]. 中国机械工程, 2010, 21(03): 271-274,279.
[14]	马振书, 梅涛. 复杂柔性车载液压机械手弹性动力学建模方法研究 [J]. 中国机械工程, 2010, 21(02): 131-136.
[15]	钱少明, 杨庆华, 鲍官军, 王志恒, 张立彬. 基于气动柔性驱动器的弯曲关节的基本特性研究 [J]. J4, 2009, 20(24): 2903-2907.