Hydrodynamics of a Flexible Flipper for an Underwater Vehicle-Manipulator System
Hydrodynamics of a Flexible Flipper for an Underwater Vehicle-Manipulator System
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水下机器人-机械手系统柔性鳍板的水动力学研究
DOI：
10.1109/tmech.2021.3073690
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发表时间：
2021-04
期刊：
影响因子：
--
通讯作者：
X. Bai;Yu Wang;Rui Wang;Shuo Wang;M. Tan
中科院分区：
文献类型：
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作者：
X. Bai;Yu Wang;Rui Wang;Shuo Wang;M. Tan
针对水下机器人-机械手系统（UVMS）轻量化、灵活化的需求，提出了一种新型的鳍板驱动UVMS（F-UVMS）总体结构和功能模块设计，该系统采用6个仿生鳍板推进器产生推力。在考虑材料特性和柔性变形的情况下，建立了柔性鳍板的动力学模型。流固耦合分析揭示了柔性鳍板尾流的涡量特性和作用机理。此外，通过引入无量纲游动数${{\text{S}}_{\text{w}}$，揭示了柔性鳍板的力-参数关系。通过比较柔性鳍和刚性鳍的水动力特性，得出柔性鳍具有更高的推进效率。采用协调控制策略设计了F-UVMS的运动模式。并通过计算流体力学方法，分析了仿生鳍状推进器在前进过程中的水动力效应。最后通过测力实验和推力效率实验验证了仿生鳍板推进器的实用性。通过运动实验验证了F-UVMS运动的可行性。
Motivated by the requirement for developing a lightweight and nimble underwater vehicle-manipulator system (UVMS), this article presents a novel design of the overall framework and the functional modules for a flippers-driven UVMS (F-UVMS), which is equipped with six biomimetic flipper propulsors to produce thrust. With taking into account the material properties and flexible deformation, the dynamic model of the flexible flipper is derived. The fluid-solid coupling analysis reveals the wake vorticity characteristics and the mechanism of the flexible flipper. Besides, by introducing the dimensionless swimming number ${{\text{S}}_{\text{w}}}$, the force-parameter relationship of the flexible flipper is revealed. By comparing the hydrodynamic characteristics of the flexible flipper and rigid flipper, it can be concluded that the flexible flipper has higher propulsion efficiency. The motion patterns of the F-UVMS are designed by proposed coordinated control strategy. Moreover, through computational fluid dynamics method, the hydrodynamic effects of the biomimetic flipper propulsors during forward motion are analyzed. Finally, the force measurement experiments and the thrust efficiency experiments validate the practicability of the proposed biomimetic flipper propulsor. The motion feasibility of the F-UVMS is verified bythe motion experiments.