Research On The Propulsion Performance And Design Of Bionic Eel-like Robot

With the development of human beings,the demand for resources is increasing gradually,so people begin to turn attention to the ocean.Many countries in the world attach great importance to the development of robotics and regard robots as the key development direction.The fish-like robot has the advantages of high efficiency,quick response,good flexibility and high speed.Among them,the Anguilliform fish-like robot has the least energy consumption per unit traveled consumption,and its flexible body is beneficial for movement and operation in narrow spaces.In this paper,first of all,eel is used as a bionic object to collect the fish body structure and motion posture,and get the motion relationship of each joint when the eel swims.The kinematics and dynamics model of the squid robot is established.The basic characteristics of the forward movement speed and power consumption of the squid robot are studied and the dynamics simulation is carried out.The relationship between the forward speed and power consumption of the eel-like robot and the gait parameters is analyzed.Taking the eel as the prototype,a bionic robot fish that can realize large-angle S-sized swing is designed.The propulsion system of the robot fish adopts a multi-joint structure and a multi-rudder drive mode.Secondly,the model of steady-state swimming of the eel-like robot is established,and the fluid dynamics equation is solved jointly to realize the steady-state swimming of the eel-like robot.Using FLUENT software,a user-defined function is written to simulate the motion and flow field of eel robot in two dimensions,it reveals the propulsion mechanism of the steady movement of the eel-like robot.Finally,the influence of the motion parameters on the steady-state swimming performance of the eel-like robot is studied.The kinematics,dynamics and flow field structure were studied respectively to determine the influence of body swing maximum swing,motion frequency and fish body wave wavelength on steady-state swimming speed,propulsion,power consumption and propulsion efficiency.