学术
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。[著者文摘]
文章出处:
《海军工程大学学报》-2007年19卷5期,31 -1-5,31页
分 类 号:
文献标识码:
A
文章编号:
1009-3486（2007）05-0001-05
Fish robot swimming by long fin traveling wave
JIANG Xiao-qin, （College of Science, Naval Univ. DU De-feng, ZHOU Jun of Engineering, Wuhan 430033, China）
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.[著者文摘]
Key words:
traveling wave propulsion; bionics; fish robot; torsional wave; flow control
基金资助:
国家自然科学基金资助项目（10572151）;水动力学国防科技重点实验室基金资助项目.
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