| The problems of the underwater vehicles propelled by the propellers,such as low efficiency,insufficient maneuverability and stability,as well as the high efficiency,maneuverability and stability of marine fish flapping wing propulsion mode,have been confirmed.This thesis explores the movement mechanism of the propulsion with flapping wing,and solves the problem of structure design by studying the structure and pectoral fins movement of Manta rays as well as other marine organisms.The components of designed device are all integrated on the wings,and power the underwater vehicle to achieve various underwater movements including floating,horizontal direct navigation and turning,which has the advantages of highly maneuverable,stable and noiseless.This plays an important role in promoting the development of underwater vehicles.Through the analysis of the shape of the Manta rays and the characteristics of the pectoral fins’ movement,it was found that the flexible deformation of the pectoral fins plays an important role in the generation of thrust.At the same time,the movement of pectoral fins can be decomposed according to the propulsion mode of wave fin and swing fin.On this basis,the physical model of the propulsion with swing fin was established.That provides a theoretical basis for designing the device with bionic flexible flapping wing.Based on the theory analysis of Manta rays’ pectoral fins,a novel device with bionic flexible flapping wing was designed.The mainly problems of the whole structure design,pressure resistant design,waterproof seal design and driving mode of the flapping wing propulsion device have been solved.The flexible hinge was creatively added to the fixed fin strip,which designed as a flexible fin with adaptive capabilities.So that the flexible fins strip can rotate a certain angle adaptively,and increases the propulsion force and improve the efficiency.The device with flapping wing can realize the functions of straight and turning in the water,and it can realize the propulsion mode of swinging fin similar to the Manta rays’ pectoral fins.The force analysis of the underwater vehicle with flapping wings was carried out,the functional relationship between the speed and efficiency of the underwater vehicle and the different parameters of the flapping wing was derived,and the corresponding change law was obtained.The results show that the movement efficiency of the device with flexible flapping wing is higher than that of the rigid flapping wing.The swimming efficiency of the underwater vehicle with flapping wing is higher than the underwater vehicle propelled by the propellers in most cases.At the same time,through the comparative analysis of the yaw moment,it is found that the underwater vehicle with flapping wing propulsion has higher maneuverability.Through the pool experiment and sea area experimental research,the correctness of the design scheme and the accuracy of the theoretical calculation were verified.The slewing experiment was carried out on the underwater vehicle with flapping wings.The results show that the turning radius of device with flexible flapping wings is smaller than the turning radius of the underwater vehicle propelled by the propellers,and has higher maneuverability.The anti-jamming capability of the designed device with flapping wing was verified by experiments in the sea area. |
