基于柔性运动的水下多推进模式复合机理与实验研究

Undulation propulsion and jet propulsion are commonly adopted as swimming pattern by the aquatic animal,since the undulation propulsion displays the outstanding performance of high efficiency,high maneuverability and little disturbance, while the jet propulsion has the advantage of large instant acceleration and strong environmental suitability.A novel type of bionic hybrid propeller is proposed in the project. The propeller combines the undulation propultion of fish with the jet propulation of jellyfish, and is capable of achiving a serial of motions: undulating, jetting, turning, submerging, emerging and braking.In the project,a fin with variable stiffness and multi-degree of freedom is employed as propelling unit,by the means of the coordination control of the multi-fins,then a bionic hybrid propeller is developed conbining the undulation propulsion and jet propulsion.The research of rigid-flexible coupling and fluid structure interaction is carried out by CFD.Then the movement conversion mechanism of the multi-propelling pattern of the bionic hybrid propelled is investigated.Finally,by the means of experiment research, the rule of the influence of kinematics parameters on efficiency,maneuverability and hydrodynamics.The project, breaking through the limitations of natural biology, conbine the undulation propulsion and the jet propulsion together organically, and develop more suitable propulsion underwater and expand the applications of biomimetic robot in the water monitoring,biological research and military reconnaissance.

波动推进和射流推进是水生动物普遍采用的游动方式,波动推进具有高效、高 机动性、对环境振动小的优点,射流推进具有瞬间加速快、环境适应性强的优点。本项目提 出一种基于柔性运动的新型仿生混合推进器,融合鱼类的波动推进模式和水母的射流推进模 式,能够实现波动、射流、转弯、沉浮、制动等机动动作。项目采用多自由度变刚度击水鳍作为推进单元，以多鳍协调驱动的方式研制出融合波动推进和射流推进的仿生混合推进器；采用流体数值计算方法开展仿生混合推进器刚柔耦合和流固耦合研究；探索仿生混合推进器的多推进模式运动转换机制；通过实验研究，探究各种运动参数对推进效率、机动性能和水动力学的影响规律。本项目研究突破自然局限,将波动推进和射流推进有机融合,研究更加适合水下复杂环境的推进模式,扩展仿生机器人在水质监测、生物研究和军事侦察中的应用。

波动推进具有高效、高机动性、对环境振动小的优点，射流推进具有瞬间加速快、环境适应性强的优点，本项目开发出了一种基于柔性运动的新型仿生混合推进器，融合鱼类的波动推进模式和水母的射流推进模式，能够实现波动、射流、转弯、沉浮、制动等机动动作。在本项目中，我们通过形态学和运动学观测，为波动推进和射流推进两种模式提供结构设计的尺寸参数、运动参数和物理属性，为两种运动模式的融合提供依据和基础；对仿生混合推进器虚拟样机的复合运动机理进行了研究，得到了波动推进和射流推进的运动转换机制和CPG控制方法；进行数值模拟仿真分析，对仿生混合推进器虚拟样机的流体力学进行刚柔耦合和流固耦合研究，为优化推进效率提供参考；模型实验测试采用六分量测力技术对仿生混合推进器样机进行实验测试，研究两种推进模式在不同运动参数下的水动力学（推进力、升力、侧向力）影响规律。. 本项目研究突破自然局限,将波动推进和射流推进有机融合，研究更加适合水下复杂环境的推进模式，扩展仿生机器人在水质监测、生物研究和军事侦察中的应用。