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通过对蝠鲼外形参数的设计和胸鳍变形机理的研究,研制了仿生蝠鲼机器鱼BH-RAY3。该机器鱼具有双柔性胸鳍,翼展620 mm,身长400 mm,最大航速1.09 DLS,外形阻力小,通过尾舵实现升降及转向。对BH-RAY3进行的水洞拖拽实验表明,随着拍动频率和幅度的增大,胸鳍推进力增大,在频率为1.0 Hz,幅度为24°时达到1.452 N;其次,对胸鳍被动变形形态的分析表明,柔性胸鳍同时产生0.25波长的弦向波和1个波长的展向波,与蝠鲼短波长、低频率的运动特点一致,验证了设计的合理性和可行性。
By researching the design of the shape parameters of manta rays and the deformation mechanism of the pectoral fin, the bionic manta ray BH-RAY3 was developed. The robot fish has a double flexible pectoral fin, span 620 mm, body length 400 mm, the maximum speed of 1.09 DLS, shape resistance is small, through the rudder to achieve lifting and steering. The drag experiments on BH-RAY3 show that the propulsive force of pectoral fins increases with the increase of flapping frequency and amplitude, reaching 1.452 N at the frequency of 1.0 Hz and the amplitude of 24 °. Secondly, The analysis of deformation morphology shows that the flexible pectoral fin produces both the chord-wise wave of 0.25 wavelength and the forward-direction wave of 1 wavelength, which agrees with the movement characteristics of short-wave and low-frequency manta rays, which verifies the rationality and feasibility of the design.