Mechanical Design And Simulation Research Of Underwater Bionic Rays Robot

As the continuous depletion of land resources and the national marine strategy proposed,more attention is paid to the exploitation and utilization of the ocean,which will greatly promote the development of underwater robots for exploring marine environment.Because of the superior motion performance,the bionic robot-fish has become a hot topic in the field of robotics.The undulating pectoral fin-propelled rays are characterized by extraordinary superiority in maneuverability and concealment and bionics research on rays is insufficient.The paper will choose rays as the bionic object and carry out the simulation research.According to the undulating pectoral fin-propelled model,the article designs a mechanical structure of bionic ray.The mechanism is simulated by ADAMS software and the rationality of the mechanism is verified.And combining with real shape,we establish entity model.Based on the existing results,we created the kinematics model of bionic ray and simulated the motion of pectoral fin,which proved the feasibility of the model.Based on the content,we put forward its dynamic equation of rays.According to the formula derivation,we established the dynamic model of bionic rays.Then,we programmed with established models and realized the preliminary simulation by Fluent software.At the same time,the speed and force of bionic rays were analyzed to prove the steady motion of ray on the flow.Then,using the control variable method,we study the effects of wave frequency,wavelength and amplitude on the motion performance of bionic rays.At the same time,the surface pressure,velocity and the forces acting on each direction of ray were compared to reveal the power sourse of rays.Moreover,the ray can realize the steady motion in the direction forward and explained the effect of motion parameters on the movement of rays,which provide a theoretical reference for the further simulation research and the prototype manufacturing.