Shape optimization design and analysis of morphing underwater vehicle based on bionics
基于仿生学的变体水下机器人外形优化设计分析

摘要

变体水下机器人是一种新型自适应水下观测工具，可实现高速巡航、低速侦查的极端任务需求。然而，水下变体仍存在环境恶劣、机构复杂、密封性差等技术挑战，并且对于水下变体机器人变体外形的研究仍不够充分。因此，本文重点针对6种典型鱼体进行了仿真建模以及流体分析，通过对各鱼体压强的定量分析，结果显示在高速环境下噬人鲨鱼体模型为最优仿生外形，在低速环境下箱鲀鱼体模型为最优仿生变体外形。本文结论为变体水下机器人在不同速度场景下的变形提供了理论参考，也为航空航海领域无人装备的外形变体设计提供了初步方法参考。

Abstract

Morphing underwater vehicle is a new type of adaptive underwater observation tool, which can realize the extreme task requirements of high-speed cruise and low-speed investigation. However, there are still technical challenges such as harsh environment, complex mechanism and poor sealing, and the research on the shape of underwater morphing robot is still insufficient. Therefore, this paper focuses on the model simulation and computational fluid dynamics of six typical fish bodies. Through the quantitative analysis of the pressure of each fish body, the simulation results show that the white shark body model is the optimal bionic shape under the high-speed environment, and the boxfish body model is the optimal bionic shape under the low-speed environment. The conclusion provides a theoretical reference for the design of the morphing underwater vehicle in different speed scenarios, and also provides a preliminary method reference for the morphing design of unmanned vehicle in the fields of aviation and marine.