摘要
The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure,motion discipline,and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results,a robotic fish imitating cow-nosed ray,named Robo-rayⅡ,mainly composed of soft body,flexible ribs and pneumatic artificial muscles,is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-rayⅡat normal conditions,including the St Number at linear swimming,thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s’and thrust coefficient of 0.56 in maximum are achieved in experiments.
基金
supported by the National High Technology Research and Development Program of China(863 Program)
Program for New Century Excellent Talents in University
