【摘要】 提出"组合仿生"的设计思想,集自然界飞行与鱼游动物之所长,研制出组合仿生UUV模型。模型突破生物的生理局限,采用双尾鳍推进方式,不仅有效抑制了常规尾鳍推进所带来的本体晃动问题,改进了潜航器巡游的稳定性,而且显著提高了推进速度;此外,借鉴飞行动物拍翼的机动灵活之所长,为潜航器研制增设了强化功能的二自由度胸鳍机构,实现了高机动性。该模型的研制成功不仅验证了组合仿生概念的可行性,还初步揭示了其优势,为仿生UUV提供了一条新的发展思路。更多还原

【Abstract】 In this paper,a new conception of "multi-biomimetic" is presented,based on which we design a biomimetic UUV(Unmanned Underwater Vehicle)model by taking the superiority of both flapping wings and oscillating foils.To break through the limitation of single species,our model employs two tail fins in parallel,which do not merely restrain the corresponding body oscillation caused by fish-like oscillation of a single tail,but also obviously improve its propulsion stability and cruising speed.Furthermore,inspired by the advantage of insect flight,the model is equipped with a pair of 2-DOF(heave and pitch motion)large pectoral fins,which endows the model with high maneuverability.The outstanding performance of our model gives a strong support to the conception of "multi-biomimetic" which provides a new way for further development of biomimetic UUVs.更多还原