基于CFD的仿鱼机器人多模式游动机理研究

doi:10.11996/JG.j.2095-302X.2025051105

图学学报 ›› 2025, Vol. 46 ›› Issue (5): 1105-1112.DOI: 10.11996/JG.j.2095-302X.2025051105

基于CFD的仿鱼机器人多模式游动机理研究

夏明海¹(), 罗自荣¹(), 殷谦², 卢钟岳¹, 蒋涛¹

¹ 国防科技大学智能科学学院，湖南长沙 410073
² 长沙理工大学能源与动力工程学院，湖南长沙 410076

收稿日期:2024-08-17 接受日期:2025-03-12 出版日期:2025-10-30 发布日期:2025-09-10
通讯作者:罗自荣(1974-)，男，教授，博士。主要研究方向为智能无人系统平台与动力、微纳机器人等。E-mail：luozirong@nudt.edu.cn
第一作者:夏明海(1995-)，男，博士研究生。主要研究方向为仿生机器人。E-mail：xiaminghai@nudt.edu.cn
基金资助:
国家自然科学基金(52075537);国家自然科学基金(52105289);湖南省自然科学基金(2023JJ40048)

Multi-mode swimming mechanism of a biomimetic robotic fish based on CFD simulation

XIA Minghai¹(), LUO Zirong¹(), YIN Qian², LU Zhongyue¹, JIANG Tao¹

¹ College of Intelligence Science and Technology, National University of Defense Technology, Changsha Hunan 410073, China
² College of Energy and Power Engineering, Changsha University of Science and Technology, Changsha Hunan 410076, China

Received:2024-08-17 Accepted:2025-03-12 Published:2025-10-30 Online:2025-09-10
First author：XIA Minghai (1995-), PhD candidate. His main research interest covers bionic robot. E-mail：xiaminghai@nudt.edu.cn
Supported by:
National Natural Science Foundation of China(52075537);National Natural Science Foundation of China(52105289);Natural Science Foundation of Hunan Province, China(2023JJ40048)

摘要/Abstract

摘要：

仿鱼机器人是一种新型水下航行器，具有噪音低、可靠性高、环境友好等突出优势。为探究仿鱼机器人双鳍驱动游动机理，基于计算流体力学方法进行机器人多模式运动性能数值仿真。推导了机器人运动学与动力学模型，建立了波动鳍空间运动方程。在Fluent软件中建立了机器人流体仿真模型，设计了力与运动耦合动网格仿真算法。仿真结果表明，机器人可以通过双侧波动长鳍的配合，实现前进后退、机动转弯、原地转向等多模式运动。机器人的推进力与波动频率平方成正比，机器人的游动速度、转弯速度均与波动频率成正比。频率为6 Hz时，仿真得到机器人的游动速度达到1.25 m/s，转向速度达到3.2 rad/s。研究结果验证了仿鱼机器人设计合理性与多模式运动性能，为机器人物理样机优化设计与运动控制提供理论参考与计算支撑。

关键词: 波动鳍, 仿生机器人, 计算流体力学, 动网格, 运动控制

Abstract:

Bionic robotic fish represent an innovative class of underwater vehicles, characterized by their low noise emission, high reliability, and eco-friendliness. This study investigates the swimming mechanisms of a dual-fin-driven robotic fish through numerical simulations of its multi-mode motion capabilities, employing computational fluid dynamics (CFD). Kinematic and dynamic models of the robotic fish were developed, and the spatial motion equations for the undulating fins were formulated. A fluid simulation model was constructed using Fluent software, incorporating a force-motion coupled dynamic mesh simulation algorithm. The simulation results demonstrated that the robotic fish could execute various multi-mode motions, including forward and backward movement, maneuvering turns, and in-place turns, through the coordinated action of its dual undulating fins. The propulsive force was found to be proportional to the square of the wave frequency, while both the swimming speed and turning speed were directly proportional to the wave frequency. At a frequency of 6 Hz, the robotic fish achieved a swimming speed of 1.25 m/s and a steering speed of 3.2 rad/s. These findings validate the design feasibility and multi-mode motion performance of the robotic fish, providing a theoretical foundation and computational support for the optimization and motion control of the physical prototype of the bionic robotic fish.

Key words: undulating fin, bionic robot, computational fluid dynamics, dynamic mesh, motion control

中图分类号:

TP242

夏明海, 罗自荣, 殷谦, 卢钟岳, 蒋涛. 基于CFD的仿鱼机器人多模式游动机理研究[J]. 图学学报, 2025, 46(5): 1105-1112.

XIA Minghai, LUO Zirong, YIN Qian, LU Zhongyue, JIANG Tao. Multi-mode swimming mechanism of a biomimetic robotic fish based on CFD simulation[J]. Journal of Graphics, 2025, 46(5): 1105-1112.

图/表 14

图1 仿鱼机器人结构((a) 整体设计方案；(b) 仿生波动鳍结构)

Fig. 1 Structure of the bionic fish robot ((a) Design scheme; (b) Structure of the bionic undulating fin)

图2 机器人流体仿真模型((a) 机器人网格划分；(b) 计算流体域划分)

Fig. 2 CFD Simulation model of the robot ((a) Dynamic grid model of the robot; (b) Domain partitioning of the simulation zone)

表1 仿真参数

Table 1 Parameters of the simulation model

参数类型	参数	数值
质量	质量m	17.0 kg
质量	转动惯量J_yy	0.936 kg·m²
波动鳍尺寸	波动鳍长L	0.456 m
	波动鳍高h	0.15 m
	双鳍间距b	0.377 m
	波动频率f	0~6 Hz
	横波波动幅值θ_m	19.8°
机器人尺寸	载体尺寸(长×宽×高)	0.775 m×0.377 m×0.08 m
机器人尺寸	机器人尺寸(长×宽×高)	0.775 m×0.677 m×0.103 m

图3 网格与计算步长独立性验证((a) 网格独立性验证；(b) 计算步长独立性验证)

Fig. 3 Verification of the grid number and calculation step time ((a) Grid number independence verification; (b) Calculation step time independence verification)

图4 机器人坐标系定义

Fig. 4 Coordinate system of the robot

图5 机器人推进力仿真结果((a) 推进力随时间变化曲线；(b) 平均推力随频率变化关系)

Fig. 5 Simulation results of the thrust force ((a) The thrust force changing with time; (b) The mean thrust changing with frequency)

图6 机器人直线运动仿真速度云图

Fig. 6 Velocity contour image of the robot in linear motion mode

图7 机器人水下直线运动仿真速度与位移曲线

Fig. 7 Velocity and displacement of the robot in linear motion mode

图8 不同频率下机器人水下直线运动速度曲线

Fig. 8 Propulsive velocity of the robot under different frequencies in linear motion mode

图9 水下偏航模式速度与位置变化((a) 平面位移；(b) x和z方向的速度曲线)

Fig. 9 Simulation results of the steering motion ((a) The planar displacement; (b) The velocity in x and z direction)

图10 水下偏航模式动作姿态与位置

Fig. 10 Velocity contour of the robot in steering motion

图11 原地旋转模式偏航角与角速度

Fig. 11 Yaw angle and angular speed of the robot in rotation motion

图12 原地旋转模式驱动力矩与阻力矩

Fig. 12 Driven torque and resistance torque of the robot in rotation motion

图13 不同频率下旋转角速度随时间变化曲线

Fig. 13 Angular speed under different frequencies in rotation mode

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基于CFD的仿鱼机器人多模式游动机理研究

Multi-mode swimming mechanism of a biomimetic robotic fish based on CFD simulation

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