基于人工肌肉的仿生机器鱼关节机构设计与力学分析

Design and Analysis of an Artificial Muscle Based Bionic Robot-fish Joint

在深入分析活鱼解剖结构的基础上,设计了一种人工肌肉驱动的鱼关节结构,介绍了形状记忆合金(SMA)人工肌肉元件的设计方法.对鱼的尾鳍摆动进行了力学建模,并加以简化.基于摆动过程的力矩平衡方程,对SMA驱动力矩与阻力矩、流体阻尼力矩及机构(流体)惯性力矩进行了分析,建立了各个参数之间的定量关系式.通过数据验证了模型的可靠性,为仿生机器鱼的研究提供了参考依据.

This paper focuses on the design of bionic structure of a robot-fish joint, which depends on a sufficient analysis of anatomical structure of a live fish, by using artificial muscles as its main driver, and introduces a detailed method to design an SMA （shape memory alloy） spring. Meanwhile, the swing model of fish tail fin is established and simplified. Then, based on the torque balance equation of swing motion, the SMA drive torque and resistance torque, flow frictional torque and structure （flow） inertia torque are analyzed, and the quantitative relationship among several parameters is established. This work will provide a significant reference for bionic robot-fish research.