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为了提高仿鱼型推进器在水中运动的稳定性和机动性,该文选择了典型的依靠胸鳍波状运动产生推进力的蓝点魟为仿生对象,对胸鳍的结构进行简化,并基于这种简化模型设计了仿生波动鳍推进装置。详细介绍了该装置的机械结构和控制电路,通过理论计算和实验测试相结合的方法,全面分析了影响仿生机器鱼鳍推进器波动游动速度的各种因素,包括:波动频率及摆幅和波长等运动学参数、鳍面面积、流体介质密度及仿生鳍的重量等,揭示了各因素的影响规律。通过研究发现:仿生波动鳍推进速度基本上随着波动频率、摆幅和波长等运动学参数的增加而增大;随着鳍面面积或流体介质密度的增大,相同运动学参数下推进速度亦明显加快;此外,推进速度随着该仿生鳍的重量增加而略有降低。
In order to improve the stability and maneuverability of the fish-like propeller in water, this paper chooses the typical blue point 依 that relies on the pectoral fin wave motion to generate propulsive force as the bionic object, simplifies the structure of the pectoral fin, and based on this simplification The model has designed bionic fluctuating fin propulsion device. The mechanical structure and control circuit of the device are introduced in detail. Through the combination of theoretical calculation and experimental testing, various factors influencing the fluctuating speed of fins propeller of bionic machine are analyzed comprehensively, including the fluctuation frequency, swing amplitude and Wavelength and other kinematic parameters, fin area, fluid medium density and the weight of bionic fins, reveals the impact of various factors. The results show that: the propulsion speed of bionic fluctuating fins basically increases with the increase of kinetic parameters such as frequency, swing and wavelength; as the area of fins or the density of fluid medium increases, the propulsive speed under the same kinematic parameters Also significantly accelerated; In addition, the speed of propulsion with the increase in the weight of the biomimetic fins slightly lower.