仿生鳄鱼游动推进机制动力学分析
Dynamical analysis of propulsive mechanism of bionic crocodile swimming in water
冯创新 1蒋建平 1白宏磊 1何俊轩 1曾钦 1卓志钦1
作者信息
- 1. 中山大学航空航天学院,广东 深圳 518107
- 折叠
摘要
本文建立了鳄鱼水中摆尾游动的动力学模型,并利用Froude游动效率理论给出了鳄鱼推进效率的计算方法.结果表明:鳄鱼游动过程中,稳态平均游速随摆动频率、幅值和波长的增大逐渐增大.其中,增加摆动频率对提高游速的贡献最大,增加摆动波长的贡献最小;推力功率随着摆动频率、幅值和波长的增大逐渐增加,功率损耗也逐渐增加;当鳄鱼摆动频率为0.7 Hz、摆幅为0.2 m、波长为1.2 m时,游动效率达到最大为64%;游动效率随着Re的增大,呈现先增大后减小的趋势,在Re为3×105时达最大值;游动效率随着St的增大而逐渐趋近于55%的稳定值.研究结果对研制仿鳄鱼机器人具有重要参考价值.
Abstract
The dynamics model of a swimming crocodile is established based on its kinematic model and Lighthill's slender-body theory.Furthermore,the propulsion efficiency of a swimming crocodiles is calculated using Froude's theory.The results show that the cruising velocity of the crocodile increases with the increase of the tail's swinging frequency,amplitude and wavelength.And,the increase of swinging frequency being the greatest contribution,the increase of swavelength being the least contri-bution.It is also observed that the thrust power increases gradually with the increase of the tail's swing-ing frequency,amplitude and wavelength.When the oscillating frequency is 0.7 Hz,the oscillating am-plitude is 0.2 m and the wavelength is 1.2 m,the thrust efficiency is up to 64%.The thrust efficiency in-creases first and then decreases with the increase of Re,and reaches the maximum value when the Re is 3×105,gradually approaching the constantvalue of 55%with the increase of St.The results provid an valuable reference for the development of a crocodile-like robot.
关键词
仿生鳄鱼/摆尾推进/动力学建模/游动效率Key words
bionic crocodile/wagging thrust/dynamics modeling/swimming efficiency引用本文复制引用
基金项目
深圳市高等学校稳定支持重点项目(GXWD20201231165807008)
深圳市高等学校稳定支持重点项目(GXWD20200830220051001)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据