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工程设计学报
工程设计学报  2010, Vol. 17 Issue (1): 55-60    
工程设计理论、方法与技术     
仿鱼机器人S形快速起动的推进效率分析
 陈宏, 徐刚, 费跃农, 郑三元
深圳大学 机电与控制工程学院,广东 深圳 518060
Propulsion efficiency analysis of S-start swimming of fish-like robot
 CHEN  Hong, XU  Gang, FEI  Yue-Nong, ZHENG  San-Yuan
College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060， China
 全文: PDF(4227 KB)   HTML
摘要： 基于白斑狗鱼主动/被动S形起动的体干曲线的摆动规律,为研制的仿鱼机器人建立S 形起动的运动方程.通过流体举力、边界层摩擦阻力和纵向附加质量力等水动力计算,分析仿鱼机器人S形起动的水下推进效率.利用主动/被动S形起动的多步态仿真实验,给出仿鱼机器人动能、输入功率和推进效率等水下机动性能指标,为仿鱼机器人的水下机动推进实验研究和优化设计提供理论依据.
关键词： 主动/被动S形起动;  仿鱼机器人;  推进效率;  仿真试验    
Abstract: Based on the oscillating movement of S-start of strikes and startles in northern pike, the motion equations for S-start were established for the developed fish-like robot. Through the calculations of the fluid thrust, the boundary layer friction and the added mass in lengthwise direction, the propulsion efficiency of S-start was analyzed. By using the multi-step simulation experiments of strikes and startles of S-start, the underwater maneuverability performance indices such as kinetic energy, input power and propulsion efficiency were obtained, which provides theoretic reference for the experimental research and optimal design of the underwater maneuvering propulsion of fish-like robots．
Key words: strikes and startles of S-start    fish-like robot    propulsion efficiency    simulating experiment
出版日期: 2010-02-28
:  TP 24  
基金资助:

深圳大学校级自然科学类博士启动科研项目资助（200935）
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陈宏
徐刚
费跃农
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引用本文:

陈宏, 徐刚, 费跃农, 郑三元. 仿鱼机器人S形快速起动的推进效率分析[J]. 工程设计学报, 2010, 17(1): 55-60.

CHEN Hong, XU Gang, FEI Yue-Nong, ZHENG San-Yuan. Propulsion efficiency analysis of S-start swimming of fish-like robot[J]. Chinese Journal of Engineering Design, 2010, 17(1): 55-60.

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https://www.zjujournals.com/gcsjxb/CN/    或    https://www.zjujournals.com/gcsjxb/CN/Y2010/V17/I1/55

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