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本文采用计算流体动力学(CFD)方法对双游泳足推进仿海蟹机器人自主游动机理进行了研究。建立仿海蟹机器人自主游动计算模型,以双桨协同步态为例对游泳足推进的仿海蟹机器人水动力性能进行了模拟,探讨了自主游动过程中运动学和力学参数的时间历程规律,分析了游泳足运动参数对自主游动速度和推进效率的影响,提取了三维流场结构,从涡动力学角度揭示了自主游动过程中水动力的产生机理。结果表明:由于游泳足水动力的交变和非定常特性,使得机器人自主游动过程中的瞬时游速和功耗存在周期性波动;游泳足拍动频率越高,机器人达到稳定游动状态所耗费的时间越短,加速性能越好;双桨协同拍动时,机器人垂向和侧向位移为0,可以实现纵向直航。最后搭建了自主游动实验平台,针对双桨协同步态和双桨交错步态两种推进形式进行了对比实验,验证了水动力学分析的正确性。
In this paper, CFD method is used to study the autonomous swim mechanism of double-swim foot-advancing crab-like robot. The autonomous swimming calculation model of imitation crab robot is established. The simulation of hydrodynamic performance of imitation crab robot driven by swimming foot is taken as an example to discuss the time history of kinematic and mechanical parameters in autonomous swimming The influence of swimming foot movement parameters on the autonomous swimming speed and propulsion efficiency was analyzed. The three-dimensional flow field structure was extracted and the hydrodynamic generation mechanism was revealed from the perspective of eddy dynamics. The results show that the instantaneous swimming speed and power consumption of the robot fluctuate periodically due to the alternating and unsteady characteristics of the hydrodynamic force of the swimming foot. The higher the frequency of the swimming foot flapping, the robot reaches the stable swimming state The shorter the time spent, the better the acceleration performance. When the sculls co-operate, the vertical and lateral displacements of the robot are 0, which enables vertical direct navigation. Finally, an autonomous swimming experimental platform was set up, and the comparison experiment was conducted on the two propelled forms of the twin-blade synchronized gait and the double-faced staggered gait, which verified the correctness of the hydrodynamic analysis.