空-水双模态跨介质机器人推进性能CFD仿真研究OA

To meet the demand for cross-medium operations in complex marine environments,this paper conducted a computational fluid dynamics(CFD)simulation study on the propulsion system of a cross-medium robot with air-water dual-mode motion capability.Due to the significant differences in physical properties such as density and viscosity between air and water,traditional single-environment propellers fail to balance high propulsion efficiency in both media.To address this,this paper established a three-dimensional transient CFD model covering typical aerial and underwater conditions.The sliding mesh and volume of fluid methods were adopted to perform a comparative simulation analysis of single-propeller and multi-propeller coupled systems,revealing the differences and patterns of the cross-medium propulsion system in terms of thrust coefficient,propulsion efficiency,and wake interference.The results indicate that at a speed of 3 kn,the underwater propulsion system achieves an efficiency of up to 48.48%,significantly higher than that of the aerial propulsion system(7.43%).Although multi-propeller operation induces wake coupling interference,an optimized layout can improve the overall efficiency.This paper constructed a unified CFD analysis framework for air-water propulsion and proposed a quantitative evaluation method for cross-medium propulsion performance,providing theoretical support for the layout optimization and multimodal coordination design of cross-medium robots.