2関節イルカ形水中推進機構の動力学解析 : 第1報,解析モデルおよび理論解析法

概要

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We discuss the dynamics of 'carangiform' propulsion, which is a swimming mode suitable for high speed and high efficiency. The carangiform motion is modeled as the motion of a 2-joint bending mechanism composed of a streamlined body and a rectangular caudal fin. In order to analyze this model, the one-dimensional slender body theory and the two-dimensional linearized wing theory are used for the body and the caudal fin, respectively. Furthermore, the thrust reduction and energy loss due to the nonlinear fluid force acting on the circular body are considered in order to estimate the propulsive efficiency. In this paper, the analytical model is described and the analytical method in which the slender body theory and the linearized wing theory are combined is discussed. A simple linearized method and the fourth-order Runge-Kutta method are compared to estimate the effect of the nonlinear force on the dynamics of the body.
一般社団法人日本機械学会の論文
1996-08-25