In order to improve the cruising speed and range of the biomimetic fish underwater robot, reduce energy consumption, a microstructure is added to the lower surface near the robot head to study the influence of microstructure on the resistance characteristics of the robot. Firstly, transverse and longitudinal triangular grooves were added to the lower surface of the robot to analyze the resistance characteristics. Compared with smooth surfaces, the total drag reduction rate of longitudinal microstructures is 12.4%, and that of transverse grooves is 11.2%. It was found that the drag reduction effect of longitudinal grooves is better than that of transverse grooves. Then, numerical simulations were conducted on three types of microstructures: V-shaped, triangular, and trapezoid shaped. When the dimensionless size of the microstructure are h = 13 and s = 17, the triangular microstructure has the best drag reduction effect, with a total drag reduction rate of 12.4%. The V-shaped drag reduction rate is 11.4, and the trapezoidal drag reduction rate is 6.3%. Finally, the drag reduction mechanism of the microstructure is given by analyzing the velocity distribution and wall shear stress of the flow field around the microstructure.
The object of this work is to design a robot for underwater biological monitoring. First, the overall structure of the robot is designed. The main body adopts a rotating body structure, which middle part is cylindrical and the head and tail are streamlined. The Schatz mechanism is selected for the roaming mechanism of the robot to solve the problem of being easily entangled by various plants and high noise when using propellers. Then, the body of the robot is optimized with the minimum resistance while traveling. The resistance of the robot is discussed when different curve equations are used for the head and tail. Finally, the resistance characteristics of the robot and the surrounding flow field under different inflow speeds are analyzed. The results show that the robot has the least resistance when the Myring curve is selected for the head and the tail with the equation index n=1 and a wrap angle of 20°. In addition, the resistance of the robot and the generated vorticity increase with the increase of the inflow speed, and the shedding of the vortex mainly occurs at the end of the robot's fins.
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