借鉴变形机器人的变形技术，在传统仿生机器蟹设计上引入可变形水下滑翔机的概念设计，仿生机器蟹可根据不同工作任务，自主切换工作模式。基于粘性流体理论，将滑移网格法与多计算域法高效结合，对计及复杂附体结构的仿蟹机器蟹水动力性能进行研究，获得在不同航速、不同攻角下的升阻特性；对其压力场、速度场和涡量场的分布进行分析，得到仿生机器蟹在滑翔模式下的最优攻角，并为仿生机器蟹优化设计打下基础。
Based on the deformation technology of deformation robot, the concept design of deformable underwater glider is introduced into the design of traditional bionic robot crab. The bionic robot crab can switch its working mode according to different work tasks. Based on the viscous fluid theory, the sliding grid method and the multi domain method are combined efficiently to study the hydrodynamic performance of the crab like robot crab with complex appendage structure, obtain the lift drag characteristics at different speeds and angles of attack, and analyze the distribution of its pressure field, velocity field and vorticity field. The optimal angle of attack of the bionic robot crab in gliding mode is obtained, which lays a foundation for the optimal design of the bionic robot crab.
2024,46(1): 35-41 收稿日期：2022-11-18
DOI：10.3404/j.issn.1672-7649.2024.01.006
分类号：TP242.6
作者简介：谢鹏(1994-),男,硕士,助教,研究方向为水下机器人技术
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