Applied Mathematics and Mechanics (English Edition) ›› 2016, Vol. 37 ›› Issue (5): 601-610.doi: https://doi.org/10.1007/s10483-016-2074-8

• 论文 • 上一篇    下一篇

Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

Xinyan YIN, Lichao JIA, Chen WANG, Guangming XIE   

  1. Key State Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, China
  • 收稿日期:2015-05-25 修回日期:2016-01-13 出版日期:2016-05-01 发布日期:2016-05-01
  • 通讯作者: Lichao JIA E-mail:lchjia@pku.edu.cn
  • 基金资助:

    Project supported by the National Natural Science Foundation of China (Nos. 61503008 and 51575005) and the China Postdoctoral Science Foundation (No. 2015M570013)

Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

Xinyan YIN, Lichao JIA, Chen WANG, Guangming XIE   

  1. Key State Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, China
  • Received:2015-05-25 Revised:2016-01-13 Online:2016-05-01 Published:2016-05-01
  • Contact: Lichao JIA E-mail:lchjia@pku.edu.cn
  • Supported by:

    Project supported by the National Natural Science Foundation of China (Nos. 61503008 and 51575005) and the China Postdoctoral Science Foundation (No. 2015M570013)

摘要:

A simplified model of the thrust force is proposed based on a caudal fin oscillation of an underwater bionic robot. The caudal fin oscillation is generalized by central pattern generators (CPGs). In this model, the drag coefficient and lift coefficient are the two critical parameters which are obtained by the digital particle image velocimetry (DPIV) and the force transducer experiment. Numerical simulation and physical experiments have been performed to verify this dynamic model.

关键词: underwater bionic robot, digital particle image velocimetry (DPIV), thrust force, central pattern generator (CPG), caudal fin oscillation

Abstract:

A simplified model of the thrust force is proposed based on a caudal fin oscillation of an underwater bionic robot. The caudal fin oscillation is generalized by central pattern generators (CPGs). In this model, the drag coefficient and lift coefficient are the two critical parameters which are obtained by the digital particle image velocimetry (DPIV) and the force transducer experiment. Numerical simulation and physical experiments have been performed to verify this dynamic model.

Key words: underwater bionic robot, digital particle image velocimetry (DPIV), thrust force, central pattern generator (CPG), caudal fin oscillation

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