Research On Optimal Design And Experiment For The Bionic Device Inspired By Flexible Undulatory Fin

The severe development situation of land resources promotes the growth of marine strategic position and the demand for underwater vehicles.Traditional underwater vehicles usually use propellers as the driver,which have the disadvantages of large volume,large environmental disturbance,low propulsion efficiency and poor maneuverability.When researchers continue to explore new propulsion modes,they find that the high-efficient,lownoise and stable wave propulsion mode in the fish movement mode can provide new research and development ideas.However,it is very difficult to fully reproduce the complex underwater motion,which requires high control system.In order to simplify the control system,the design difficulty and development cost are reduced while ensuring the realization of fluctuating motion.The research team took the flexible undulatory long dorsal fin of the bow fin propulsion model fish as the bionic object,and completed the structural design of a single drive bionic undulatory propulsion device and the corresponding new underwater vehicle.On this basis,this paper analyzes the problems existing in the existing design scheme,optimizes the design and dynamic simulation of key components,develops the principle prototype,carries out feasibility verification test and propulsion performance test.The main research contents are as follows:(1)Analyze and summarize the morphological structure and motion characteristics of the flexible undulating long dorsal fin,and establish the kinematics model.Qualitatively analyzes the propulsion mechanism of the flexible undulatory fin,simplifies the undulatory fin model of the living fish,expresses the biological model with the physical model,establishes the kinematic and dynamic mathematical model of the undulatory fin,and provides the theoretical model for the optimal design and entity design of the bionic undulatory propulsion device.(2)Theoretical analysis,parameter optimization and kinematic simulation are carried out for the structural design scheme of propulsion device.Considering the comprehensive influence of the spatial dimension,transmission performance and propulsion performance of the mechanism on the mechanism parameters,taking the maximum minimum transmission angle and minimum space size as the optimization objectives,the mechanism parameters corresponding to the waveform parameters with better propulsion performance are selected as the constraint conditions.The optimization calculation is carried out in MATLAB and the motion simulation is carried out in ADAMS,which provides the basis for the subsequent design.(3)Based on the optimized parameters of fin actuator,a prototype of bionic wave propulsion device is developed.According to the principle of similarity design and the idea of combination design,the wave parameters with better propulsion performance are optimized,and the structural parameters of the actuator of bionic wave propulsion device are reversely deduced;3D modeling is carried out in Solid Works software,and the envelope dimension of the largest distance between adjacent fins is extracted as the basis for fin surface design;the principle sample of propulsion device including frame and control module is designed The overall scheme of the machine and the principle prototype are made,which is convenient for the underwater test to study the feasibility of the wave propulsion mode.(4)Design and build an underwater test platform,conduct feasibility verification test and propulsion performance test of the principle prototype,and verify the feasibility of the wave propulsion theory.According to the underwater debugging of the principle prototype and the need to verify the wave propulsion theory,the experiment design is carried out to verify the feasibility of the bionic wave propulsion device;the specific parameters that have a great impact on the propulsion performance are selected to study the impact on the propulsion performance of the propulsion device,and the feasibility of the wave propulsion theory is verified,so as to realize the modularization of the single drive bionic wave propulsion device and the water with multi fin combination The optimization design of the AUV provides the basis.