Stingrays can undulate their wide pectoral fins to thrust themselves and swim freely underwater. Many researchers have used bionics to directly imitate their undulating mechanism and manufacture undulatory underwater robots. Based on the limitations of the existing undulatory underwater robots, this paper proposes a novel undulatory propulsion strategy, which aims to use the stingray undulating mechanism more thoroughly. First, the mathematical models of both traditional and novel structures are established to accurately describe their undulating mechanism. Then, based on the dynamic mesh technology, the flow field vortex structure they generated is analyzed through fluid-structure interaction simulation, and the thrust force and lateral force generated by them are calculated, which verified that this novel propulsion strategy is indeed more effective. Finally, a prototype robot based on the improved propulsion strategy is manufactured. Compared with the existing stingray robots, the prototype has obvious advantages, thus verifying the accuracy of the simulation results.

黄貂鱼可以摆动它们宽阔的胸鳍来推动自己并在水下自由游泳。许多研究人员已经利用仿生学直接模仿其波动机制，制造出波动的水下机器人。基于现有波状水下机器人的局限性，本文提出了一种新颖的波状推进策略，旨在更彻底地利用黄貂鱼的波状机制。首先，建立了传统结构和新型结构的数学模型，以准确描述其波动机制。然后，基于动态网格技术，通过流固耦合仿真分析它们产生的流场涡结构，计算它们产生的推力和侧向力，这证实了这种新颖的推进策略确实更有效。最后，制造了基于改进推进策略的原型机器人。与现有的黄貂鱼机器人相比，样机具有明显的优势，从而验证了仿真结果的准确性。