Research on motion simulation of fin surface of polar amphibious robot with undulating fin in near-wall region
With the melting of Arctic sea ice,the Arctic's strategic significance is gaining prominence.Amphibious ro-bots have considerable potential for applications in extreme polar environments.This paper proposes a concept prototype of a polar amphibious robot with undulating fins and establishes the structure and kinematic model of the fin.To observe the bottom of sea ice,this paper categorizes the undulating fins'motion modes into horizontal and vertical swings,and investigates changes to force,pressure,and vorticity fields in the near-wall region under different motion modes using numerical methods.The results show that the closer the horizontal swing fin is to the wall,the lift force increases,and there is a critical amplitude.When the amplitude is higher than the critical value,the thrust force decreases.When the amplitude is lower than the critical value,the thrust force increases.The closer the vertical swing fin is to the wall,the thrust force decreases and the lift force in-creases.The reason for the change in thrust and lift of the undulating fins is the change in the space between the fin surface and the wall,which changes the fluid flow structure and thus the pressure and vorticity fields around the undulating fin.
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