仿海蟹机器人游泳足水动力学分析与实验研究

王海龙 1; 王刚 2; 陈曦 3; 王立权 1; 靳励行 1

doi:10.7652/xjtuxb201508013

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仿海蟹机器人游泳足水动力学分析与实验研究

更新时间：2025-07-09

- 仿海蟹机器人游泳足水动力学分析与实验研究
- Hydrodynamic Analysis and Experimental Research on Swimming Leg of Crablike Robot
- 西安交通大学学报 2015年49卷第8期页码：75-83
- 作者机构：
  
  哈尔滨工程大学机电工程学院,哈尔滨,150001
- 作者简介：
- 基金信息：
  
  : 2014-12-16。作者简介: 王海龙(1988—)男,博士生;王立权(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金青年基金资助项目(51409058);国家自然科学基金资助项目(60875067);黑龙江省自然科学基金资助项目(F201205)
- DOI：10.7652/xjtuxb201508013
  中图分类号： TP242
- 网络首发：2015-08-10，
  
  纸质出版：2015
- 稿件说明：
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王海龙 1, 王刚 2, 陈曦 3, 等. 仿海蟹机器人游泳足水动力学分析与实验研究[J]. 西安交通大学学报, 2015,49(8):75-83.

Hydrodynamic Analysis and Experimental Research on Swimming Leg of Crablike Robot[J]. 2015, 49(8): 75-83.
王海龙 1, 王刚 2, 陈曦 3, 等. 仿海蟹机器人游泳足水动力学分析与实验研究[J]. 西安交通大学学报, 2015,49(8):75-83. DOI： 10.7652/xjtuxb201508013.

Hydrodynamic Analysis and Experimental Research on Swimming Leg of Crablike Robot[J]. 2015, 49(8): 75-83. DOI： 10.7652/xjtuxb201508013.

摘要

以生物梭子蟹为仿生原型

提出一种足桨耦合驱动仿海蟹机器人。该机器人采用三对步行足和一对游泳足的结构形式

基于爬行推进与拍动翼复合推进的方式

兼具形态仿生和功能仿生的特点

可实现水下行走与水中浮游的双重功能。通过对游泳足推进方式进行数值模拟和实验研究

结果表明:升力模式推进在水翼上挥和下拍过程中均产生正推力

推进效率相对较高; 随着拍动幅度的增加

平均推力和推进效率都明显降低; 推进效率与拍动频率呈抛物线关系; 当斯特劳哈尔数Sr在0.4～0.6范围内时

升力模式的推进效率最大

当Sr在0.8～1.0范围内时

阻力模式的推进效率最高

两者所对应的尾涡脱泻均呈反卡门涡街形式; 游泳足水翼的厚度对水动力性能也有影响

相对薄的水翼不仅能增加平均推力

还能降低系统的总能耗

因此更适合推进。

Abstract

A new leg-paddle coupling crablike robot is developed based on the bionic prototype of portunus trituberculatus. The construction with three pairs of walking legs and one pair of swimming legs is adapted for the robot. By the composite propulsion of waking legs and flapping hydrofoil

the robot is endowed with the ability of walking and swimming under water to indicates the characteristics of morphological and functional bionics. Numerical simulations and water tunnel experiments are carried out to obtain the hydrodynamic performance of swimming legs. It is found that both the upstroke and downstroke phases generate propulsive load to lead to much higher propulsive efficiency when the hydrofoil is in the lift-based swimming mode. The average thrust and propulsive efficiency decreases apparently with the increasing flapping amplitude. The relationships between the propulsive efficiency and flapping frequency are like a parabola. The maximum propulsive efficiency of the lift-based swimming mode is achieved at Strouhal number of 0.4-0.6

and the propulsive efficiency reaches the maximum value at Strouhal number of 0.8-1.0 for the drag-based swimming mode. The wake structures of the two modes are characterized by reverse Karman vortex street. Furthermore

the effects of hydrofoil thickness of swimming leg on hydrodynamic performance are investigated

and the results show that the average thrust of much thinner hydrofoil is higher as well as less energy consumption

indicating that thinner hydrofoil is favorable for propulsion performance.

关键词

Keywords

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