仿生型自主式水下載具之基本研究─子計畫二：仿生型自主式水下載具運動性能之研究(1/3)
Date Issued
2000
Date
2000
Author(s)
DOI
892611E002018
Abstract
The main purpose of this research is to
simulate the undulatory locomotion of a
flexible body. When a flexible slender body
which is divided into a number of segments
undulates, the wave passes from the nose to
the tail. Reaction forces due to momentum
change, friction, as well as cross flow drag
acting on each segment are taken into
account. Equations of motion described by
the body-fixed coordinate are obtained by
taking the summation of the longitudinal
force, lateral force and yaw moment acting
on all the segments. Equations of motion are
solved step by step in time axis and the
velocity is transferred to space-fixed
coordinate. The trajectory of the flexible
body can be obtained by time integration of
the transferred velocity. Results are obtained
for the numerical model in which length,
outline dimensions of each segment are
similar to a test vehicle we are currently
building. The validity and limitation of the
simulation method are discussed.
Subjects
Undulatory locomotion
Flexible
slender body
slender body
Biomimetic AUV
Publisher
臺北市：國立臺灣大學工程科學及海洋工程學系暨研究所
Type
report
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