The Joint Laboratory of Ocean Observing and Detection, Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao, Shandong Province 266237, People's Republic of China.
Bioinspir Biomim. 2021 Jul 19;16(5). doi: 10.1088/1748-3190/ac0fcd.
A novel tensegrity wing design is first proposed which can emulate the kinematic waves of the pectoral fin of batoid rays and has a simple structure for manufacture. The attitude control and the regulation of wing natural frequency are realized by wing morphing. Then analytical insights in batoid ray swimming are gained by analyzing the analytical wing (cable)-fluid interaction model, whose parameters are determined based on the biological data. The stride length (traveled distance per cycle normalized by the body length (BL)) is shown to be almost invariant among different-sized rays if the phase and amplitude of wing flexion angles remain unchanged. This result is supported by biological data, 1.5 and 1.47 respectively for the manta ray and cownose ray, though their flapping frequencies (0.15-0.45 Hz and 0.64-1.25 Hz respectively) and body sizes (1.25 m and 0.15 m respectively) are very different, and similar to the expression for the carangiform fish swimming. In other words, the swimming kinematics of two different swimming forms are described by a similar analytical equation when the body resonance is exploited. The fluid force and cable tension are both found to be proportional to the fourth power of the body size and the square of the wing flapping frequency, which may tell that the flapping frequency of the manta ray (BL = 1.25 m) is much smaller than that of the cownose ray (BL = 0.15 m) is to avoid both the large actuation tension and fluid force density due to the size increase.
首次提出了一种新颖的张紧整体机翼设计，该设计可以模拟蝠鲼的胸鳍运动波，并且具有简单的制造结构。通过机翼变形实现姿态控制和机翼固有频率的调节。然后，通过分析分析机翼（电缆）-流体相互作用模型，获得了关于蝠鲼游动的分析见解，该模型的参数是根据生物数据确定的。如果翼弯曲角度的相位和幅度保持不变，则发现不同大小的射线的步长（每周期的行进距离除以体长（BL））几乎不变。这一结果得到了生物数据的支持，蝠鲼和牛鼻鲼的分别为 1.5 和 1.47，尽管它们的拍打频率（分别为 0.15-0.45 Hz 和 0.64-1.25 Hz）和体型（分别为 1.25 m 和 0.15 m）非常不同，并且类似于鲹形鱼类的游泳方式。换句话说，当利用身体共振时，两种不同游泳形式的游泳运动学可以用类似的解析方程来描述。发现流体力和电缆张力都与身体尺寸的四次方和机翼拍打频率的平方成正比，这可能表明蝠鲼（BL = 1.25 m）的拍打频率远小于牛鼻鲼（BL = 0.15 m）的拍打频率，以避免因尺寸增加而导致的大驱动力和流体力密度。
