摘要
研究了一种采用鳐科模式游动、柔性胸鳍摆动方式推进的形状记忆合金(SMA)丝驱动型仿生蝠鲼机器鱼.首先,对双吻前口蝠鲼游动动作进行了分析,建立了蝠鲼胸鳍柔性摆动的简化运动模型.然后对能够模仿蝠鲼肌肉动作的智能材料进行了分析.最后设计了SMA丝驱动的柔性仿生胸鳍和仿生蝠鲼机器鱼,并分析了SMA丝的热力学特性,确定了控制规律.该机器鱼外形与双吻前口蝠鲼外形相似,身体呈现扁平形状,有一对三角形的柔性仿生胸鳍,直线游动速度达到79mm/s,最小转弯半径为118mm.该机器鱼游动稳定性好,无噪声.
A biomimetic manta ray robot fish actuated by shape memory alloy （SMA） wires is presented. The robot fish is propelled by oscillation of a pair of flexible pectoral fins, and swims like a kind of rajiform model. Firstly, swimming characteristic of manta ray is analyzed and a simple kinematic model of manta ray flexible pectoral fin is built. Secondly, the intelligent materials for simulating the muscle motion of manta ray are analyzed. Finally, the flexible biomimetic pectoral fin actuated by SMA wires, the biomimetic manta ray robot fish is developed, and the thermodynamics analysis on SMA wire is performed to optimize the control rule of SMA wire. The biomimetic manta ray robot fish is similar to manta ray in shape. It also has a fiat-form body and a pair of triangular flexible pectoral fins. Its maximal swimming speed in line is 79 mm/s. Its minimum turning radius is 118 mm. It can swim stealthily with good stability.
出处
《机器人》
EI
CSCD
北大核心
2010年第2期256-261,共6页
Robot
基金
国家自然科学基金资助项目(50775049)
机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题(SKLRS200805C)
关键词
机器鱼
柔性仿生胸鳍
形状记忆合金
蝠鲼
robot fish
flexible biomimetic pectoral fin
shape memory alloy （SMA）
manta ray
