| 行波推进仿生机器鱼 |
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| 引用本文： | 蒋小勤,杜德锋,周骏. 行波推进仿生机器鱼[J]. 海军工程大学学报, 2007, 19(5): 1-5 |
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| 作者姓名： | 蒋小勤 杜德锋 周骏 |
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| 作者单位： | 海军工程大学,理学院,武汉,430033 |
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| 基金项目： | 国家自然科学基金 , 国防科技重点实验室基金 |
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| 摘 要： | 介绍5种常见的鱼类游动模式,分析讨论仿生机器鱼的生物学原型。基于对裸臀鱼属(gymnarchus niloticus)与裸背鳗属(gymnotus carapo)活体鱼的实验研究,建立了长背鳍扭转行波动态曲面的数学模型。依靠长鳍行波实现推进与控制的新型仿生机器鱼,其基本结构是"刚性身体"与"柔性背鳍"的组合,这有利于改善现有摆动式机器鱼的技术性能。裸臀鱼属与裸背鳗属鱼类可作为发展特种机器鱼潜艇的生物学原型,以提高现行水下航行器的效率和机动性能。
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| 关 键 词： | 行波推进 仿生学 机器鱼 扭转波 流动控制 |
| 文章编号： | 1009-3486(2007)05-0001-05 |
| 修稿时间： | 2007-05-14 |
Fish robot swimming by long fin traveling wave |
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| JIANG Xiao-qin,DU De-feng,ZHOU Jun. Fish robot swimming by long fin traveling wave[J]. Journal of Naval University of Engineering, 2007, 19(5): 1-5 |
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| Authors: | JIANG Xiao-qin DU De-feng ZHOU Jun |
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| Abstract: | Five types of fish swimming modes are introduced,and the prototypes of fish robot are discussed.Based on the experimental study of gymnarchus niloticus and gymnotus carapo,this paper presents a uniform kinematics model to describe the torsional wave of the long flexible dorsal fin,and discusses a new type of fish robot.It has a rigid body with a long ribbon fin and swims only by its long fin traveling torsional wave without body swing.Gymnarchus niloticus and gymnotus carapo are bionic prototypes for a special type of submarine design to increase the propulsive efficiency and to improve the maneuverability. |
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| Keywords: | traveling wave propulsion bionics fish robot torsional wave flow control |
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