尾尾结构对生物海豚机器人头部稳定的影响
Weijie Gong1, Yanxiong Wei1, Hong Chen1
1College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China.
Biomimetics (Basel, Switzerland)
|November 26, 2025
概括
生物灵感的尾部 keel 通过减少俯仰角变化来增强机器人海豚头部的稳定性. 这种被动机制重组了,抑制噪音并提高光谱纯度,以便更好地控制水下车辆.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 流体动力学 流体动力学
背景情况:
- 头部稳定对于仿生机器人海豚在自动推进过程中至关重要.
- 寻求被动稳定机制以改善控制和性能.
研究的目的:
- 为了研究生物灵感尾部的被动稳定机制.
- 为了评估基尔几何形状对机器人海豚头部稳定的影响.
主要方法:
- 使用了结合实验和计算流体动力学 (CFD) 方法.
- 在0.5-2赫兹的尾部振荡频率范围内测试了四个 keel 几何形状.
主要成果:
- 最佳的基尔配置在2赫兹时减少了20.9%的头角标准偏差.
- CFD揭示了一种双重稳定机制,涉及干扰时刻减弱和光谱纯度增强.
- 非维的高度 (h/c) 被确定为主导的几何参数.
结论:
- 尾部基尔通过管理干扰时刻和流动力学来提供双重被动稳定机制.
- 建立了基尔几何学的设计原则,平衡稳定性与运输成本 (CoT) 的轻微增加.
- 研究结果为仿生水下车辆的被动稳定提供了洞察力.
相关概念视频
01:11Buoyancy and Stability for Submerged and Floating Bodies
2.5K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
2.5K
01:54Convergent Evolution
31.3K
Evolution shapes the features of organisms over time, ensuring that they are suited for the environments in which they live. Sometimes, selection pressure leads to the rise of similar but unrelated adaptations in organisms with no recent common ancestors, a process known as convergent evolution.
31.3K