生物机器人海狮前翼的推进力特征:敏捷推进的动力基础
Anthony Drago1, Nicholas Marcouiller1, Shraman Kadapa1
1Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA.
Biomimetics (Basel, Switzerland)
|December 24, 2025
概括
这项研究揭示了海狮翅膀的运动如何产生强大的水下推进力. 了解这些生物灵感机制可以改善敏捷的无人水下车辆 (UUV) 设计.
科学领域:
- 生物力学和生物模拟学
- 机器人和控制系统 机器人和控制系统
- 流体动力学 流体动力学
背景情况:
- 敏捷,高速的无人水下车辆 (UUV) 需要先进的推进来应对复杂的环境.
- 加利福尼亚海狮 (Zalophus californianus) 使用前翼表现出了显著的机动性,作为推进的生物模型.
- 对于海狮前翼驱动力的精确动力学控制仍然不够理解.
研究的目的:
- 通过实验量化生物机器人海狮前翼产生的时间变化的推力和升力.
- 确定动力学,包括扭转,扫描和相叠加,如何调节推进力.
- 开发生物灵感水下车辆设计的控制地图.
主要方法:
- 采用了三度自由度的生物机器人海狮前翼模型.
- 实验是在循环流动水箱中进行的,具有参数化的功率和冲动.
- 收集了时间解析的力数据,以分析不同动力输入下的推力和升力 (Re ≈ 10^4-10^5).
主要成果:
- 推进冲动功能作为混合系统:动力阶段使用扭转力向量 (优化近45°的推力),阶段使用扭转来通过表面积调节推力.
- 在动力阶段,起重率单调地增加,扭转角度高达90°.
- 时间阶段的重叠增强了推力,而动力阶段的扭转可以实现强大的方向盘控制.
结论:
- 推进主要由几何动量重定向和冲动时间控制,而不是基于循环的提升.
- 通过实验推导的控制图将动力输入与推进力向量联系起来.
- 这些发现为设计和控制敏捷,生物灵感的水下车辆提供了基础.
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