一种仿生机器鳄的研制与性能测试.pdfVIP

机械工程师 MECHANICALENGINEER 一种仿生机器鳄的研制与性能测试 李子圆a , 吴原润a, 鲍健a, 施旭旭b (浙江海洋大学a .船舶与机电工程学院;b .外国语学院，浙江舟山316022 摘 要 ：以仿生机器鱼的推进模式的研究为基础，文中设计研究了一种尾鳍式仿生机器鳄鱼。为减小身体外形对运动带来的 阻力影响，用ANSYS 软件对其身体线型进行流体仿真优化，得到一组合适的流线。其次基于曲柄滑块结构实现尾部在一定攻 角下的左右摆动，通过不断测试得到曲柄杆尺寸与推进效率间的最佳关系。并针对单尾仿生推进引起的摇首所带来的平面转 向问题提出解决方案。最终实现水陆之间跨地域前进、水面“S ”形巡游、游域环境侦查等功能，验证机器鳄设计的合理性。 关键词：仿生机器鳄；曲柄结构；尾鳍推进；实验测试 中图分类号:TP 24 文献标志码： A 文章编号：1〇〇2-2333( 2〇17)〇5-〇〇5〇-〇4 Development and Performance Test of a Bionic Machine Alligator LI Ziyuan a, WU Yuanrun a, BAO Jian a, SHI Xuxub (Zhejiang Ocean University, a.School of Naval Architecture and Mechanical-electrical Engineering; b.School of Foreign Language, Zhoushan 316022, China) Abstract : Based on the study of bionic robot fish , a fin-type bionic machine alligator is designed and studied to reduce the resistance from the movement of body shape . A set of proper streamline is obtained using ANSYS software to optimize the fluid simulation of its body line shape . Crank block structure is used to realize the left-right swing of its tail at a certain angle of attack . Optimal relationship between the crank size and the propulsion efficiency are obtained through continuous test . Solution is proposed to solve the problem of plane steering brought about by the yaw caused by the single-tail bionic propulsion so as to realize such functions as the interregional advancement , the “S” cruise on the water surface , the environmental detection of swimming area , and so on.The design rationality of the Bionic Machine Alligator is verified . Keywords : bionic machine alligator ; crank structure ; tail fin propulsion ; experimental test 0 引 言 中，而不