運動する前縁波形状翼の翼性能に関する研究

抄録

Our country depends on import for much of energy and mineral resources. From these background, marine resources lying in territorial waters and exclusive economic zones are attracting attention. Underwater robots are mainly used to search for marine resources. Conventional robots with screw type thruster have various problems, and in order to solve them, fish imitation robots are being developed. In recent years, in order to help its efficient locomotion, we try to apply a wing with sinusoidal leading edge, which is a biomimetic of humpback whale, to the pectoral fin part of fish imitation robot. In this study, to clarify the suitability of the wing with sinusoidal leading edge for the fish imitation robots, we investigated the dynamic lift acting on the pitching wing under the condition of two kinds of offset angles, α₀=5°and α₀ =15°. The results were compared with those in quasi-steady case and in straight leading edge case to clarify the effect of pitching motion and sinusoidal leading edge. As a results, it was found that at α₀=5°, the lift force of pitching wing is almost the same as the quasi-steady state case independent of leading edge shape. However, at α₀=15°, where the stall occurs, wing with sinusoidal leading edge can maintain higher lift force than the straight leading edge case.