一个具有可变弦向曲刚度的游泳尾的推力效率极限
Hossam Alqaleiby1, Muhammad R Hajj2
1Davidson Laboratory, Department of Civil, Environmental and Ocean Engineering, Stevens Institute of Technology, Hoboken, NJ, 07030, USA. haboalel@stevens.edu.
Scientific reports
|February 6, 2025
概括
这项研究探讨了尾巴性如何影响水下机器人的性能. 不同的刚度可以提高推力和效率,这对于功率有限的生物灵感机器人至关重要.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 流体动力学 流体动力学
- 生物启发工程 生物启发工程
背景情况:
- 螺旋驱动的机器人有局限性;生物灵感设计提供了替代方案.
- 形游泳机器人的柔性尾巴可以增加推力,但可能会降低效率.
- 自然游泳者调整尾巴的刚性以获得最佳的表现.
研究的目的:
- 为了评估不同曲线的尾部刚度对尾部偏斜和流动动力学的影响.
- 分析增加的质量和循环力对推进发电和效率的贡献.
- 识别流动动力学和尾部偏移,以提高推力和/或效率.
主要方法:
- 计算流体动力学 (CFD) 模拟用于模型尾部动力学和水力动力学.
- 这项研究分析了在不同度条件下尾巴的折曲,流动模式和力量 (增加质量,循环).
- 性能是根据推力产生和推进效率来评估的.
主要成果:
- 确定了特定的尾部刚度值,可以提高推力产生和推进效率.
- 该研究量化了增加的质量和循环力对总体推力的贡献.
- 定义了一个性能极限,将最大效率与推力系数联系起来.
结论:
- 变化尾部刚度是优化生物灵感水下机器人的性能的一种可行的策略.
- 了解尾部灵活性,流动动力学和力之间的相互作用是设计高效机器人游泳者的关键.
- 这项研究为定义生物启发推进系统的性能限制提供了一个框架.
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