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近年来仿生技术在水下机器人上的应用已经成为水下机器人的重要研究方向之一。本文介绍了哈尔滨工程大学研制的“仿生Ⅰ”号水下机器人。该机器人以蓝鳍金枪鱼为模本,长2.4m,前体固定,后体(约1/3体长)为具有3个节点的摆动装置,采用月牙形尾鳍。水动力计算和水池实验表明,仿鱼推进和操纵方式比传统的桨舵具有高效性和高机动性
In recent years, the application of bionic technology to underwater robots has become one of the important research directions of underwater robots. This article introduces the “bionic Ⅰ” underwater robot developed by Harbin Engineering University. The robot takes the bluefin tuna as a model, with a length of 2.4m and a fixed precursor. The back body (about 1/3 body length) is a swinging device with 3 nodes and adopts a crescent caudal fin. Hydrodynamic calculations and pool experiments show that fish-like propulsion and maneuvering methods are more efficient and highly mobile than conventional propellers