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| 1 | 中央鳍/对鳍推进模式的仿生自主水下机器人发展现状综述显示文摘中央鳍/对鳍(MPF)推进模式和身体/尾鳍(BCF)推进模式是仿生自主水下机器人(AUV)最常见的两种推进模式,其中MPF推进模式具有BCF推进模式无法比拟的一些运动优势.本文首先在推进方式、运动速度、推进效率、机动性和游动稳定性等方面对这两种推进模式进行了分析比较,将MPF模式推进的仿生AUV分为多鳍拍动式、胸鳍扑翼滑翔式和长鳍波动式3种,并分别详细综述了这3种MPF模式推进的仿生AUV的国内外研究现状,最后对其游动性能、驱动方式选择、驱动器数量、推进鳍和本体外形设计等问题进行了分析和讨论,对MPF模式推进的仿生AUV研制所存在的问题进行了归纳总结,并对今后可进行的研究内容作了展望. | 王田苗 杨兴帮 梁建宏 | 2013 | 机器人2013，35，3： | 30 |
| 2 | Computational Research on Modular Undulating Fin for Biorobotic Underwater Propulsor显示文摘Biomimetic design employs the principles of nature to solve engineering problems. Such designs which are hoped to be quick,efficient,robust,and versatile,have taken advantage of optimization via natural selection. In the present research,an environment-friendly propulsion system mimicking undulating fins of stingray was built. A non-conventional method was considered to model the flexibility of the fins of stingray. A two-degree-of-freedom mechanism comprised of several linkages was designed and constructed to mimic the actual flexible fin. The driving linkages were used to form a mechanical fin con-sisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fins. Owing to the modularity of the design of the mechanical fin,various undulating patterns can be realized. Some qualitative observations,obtained by experiments,predicted that the thrusts produced by the mechanical fin are different among various undulating patterns. To fully understand this experimental phenomenon is very important for better performance and energy saving for our biorobotic underwater propulsion system. Here,four basic undulating patterns of the mechanical fin were performed using two-dimensional unsteady computational fluid dynamics (CFD) method. An unstructured,grid-based,unsteady Navier-Stokes solver with automatic adaptive re-meshing was used to compute the unsteady flow around the fin through twenty complete cycles. The pressure distribution on fin surface was computed and integrated to provide fin forces which were decomposed into lift and thrust. The pressure force and friction force were also computed throughout the swimming cycle. Finally,vortex contour maps of these four basic fin undulating patterns were displayed and compared. | Yong-hua Zhang Lai-bing Jia Shi-wu Zhang Jie Yang K. H. Low | 2007 | Journal of Bionic Engineering2007，4，1： | 17 |
| 3 | 仿生鱼鳍波动推进模式对游动性能影响的数值研究显示文摘仿生鱼鳍的波动运动有两种基本模式:振幅从前往后保持不变和振幅从前往后逐渐变化。通过比较仿生鱼鳍两种波动模式的特点,可以给利用仿生鱼鳍驱动的水下推进器选择合理的波动方式提供依据。基于计算流体动力学(computational fluid dynamics,CFD)技术建立两种波动模式的二维数学模型。比较分析了在相同的雷诺数及运动学参数(频率、波速和平均振幅)下两种波动模式形成的压力分布和平均推进力。给出了阻力系数随时间的变化规律。根据尾迹涡量场分布形式和涡量强度解释了两种波动模式之间存在差异的原因。从仿真结果可以看出:在相同的运动学参数下,振幅从前往后保持不变的鱼鳍波动模式产生更大的推进力,具有更高的游动稳定性。 | 章永华 何建慧 | 2013 | 机械科学与技术2013，32，3： | 9 |
| 4 | 仿生机器鲫鱼的设计及运动学实验研究显示文摘为实现利用机器鱼进行自主水下生态环境监测、资源勘查和军事侦察等目标,选择了集高效性、高机动性和高稳定性于一体的鲫鱼作为仿生对象.基于鲫鱼形态、骨骼结构和运动学的研究基础,运用仿生学工程原理,开发了高性能的仿生机器鲫鱼模型.详细分析了仿生鲫鱼的设计原理,给出仿生鲫鱼的运动学方程,实验揭示了仿生鲫鱼频率、波幅、波长和相邻关节间的相位差等运动学参数对游动速度的影响规律.通过研究发现:仿生鲫鱼能够有效地在水中游动,游动速度随频率的增加而增加,到频率为1.58 Hz左右的时候,游速达到最大值0.48 BL/s,随后随频率的增加游速反而降低.随着波幅的增大,机器鲫鱼的游动速度明显增加,当波幅达到6.3 cm时,游速达到最大值0.43 BL/s,但之后游速反而略有下降.实验范围内,波长对推进速度的影响基本上是随波长增加而增加.游动速度一开始随相邻关节相位差的增大而增加,到相邻关节相位差为78°左右的时候,游速达到最大值0.35 BL/s,随后游速反而下降.研究结果可为今后研制高性能的仿生水下推进器提供理论和实验方法上的参考. | 章永华 何建慧 颜钦 | 2011 | 工程设计学报2011，18，3： | 9 |
| 5 | Numerical and Experimental Research on Modular Oscillating Fin显示文摘Fishes are famous for their ability to position themselves accurately even in turbulent flows. This ability is the result of the coordinated movement of fins which extend from the body. We have embarked on a research program designed to develop an agile and high efficient biologically inspired robotic fish based on the performance of hybrid mechanical fins. To accomplish this goal, a mechanical ray-like fin actuated by Shape Memory Alloy (SMA) is developed, which can realize both oscillatory locomotion and undulatory locomotion. We first give a brief introduction on the mechanical structure of our fin and then carry out theoretic analysis on force generation. Detailed information of these theoretical results is later revealed by Computational Fluid Dynamic (CFD), and is final validated by experiments. This robotic fin has potential application as a propulsor for future underwater vehicles in addition to being a valuable scientific instrument. | Yong-hua Zhang Yan Song Jie Yang K. H. Low | 2008 | Journal of Bionic Engineering2008，5，1： | 8 |
| 6 | 仿生机器鱼鳍波动推进速度的理论分析和实验测试显示文摘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。 | 何建慧 章永华 | 2015 | 水动力学研究与进展(A辑)2015，30，3： | 4 |
| 7 | 鳍条倾角对仿生鳍推进力大小的影响显示文摘为研究仿生鳍条倾斜角度对波动鳍推进力产生的影响,建立了鱼鳍运动学和动力学方程.通过实验测量技术,比较分析了仿生鳍在等鳍条长度和等鳍面面积两种情况下,鳍条倾角分别为30°,40°,45°,50°,60°,70°,80°和90°时推进力的变化规律,同时测量了鳍条倾角为45°时不同运动学参数下两种模式的推进力.并从流体动力学角度,初步解释了两种情况下仿生鳍推进力存在差异的原因.结果表明:在等鳍条长度条件下,平均推进力随着鳍条倾角的增大而增加;在等鳍面面积条件下,平均推进力随着鳍条倾角增大而减小.在相同条件下,等鳍面面积仿生鳍产生的平均推进力始终大于等鳍条长度情况.该结果为仿生波动鳍推进器结构优化提供参考. | 章永华 | 2016 | 中北大学学报(自然科学版)2016，37，6： | 0 |
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