SMA丝驱动的仿生水母伞体推进器设计

Design of Bionic Jellyfish Umbrella Body Thruster Driven by SMA Wires

以水母为研究对象,模仿其喷水推进方式,设计了SMA丝驱动的仿生伞体喷水推进器。首先研究了水母的形态特征、运动方式及肌肉结构,建立了水母伞体的动作特征和推进力的数学模型。其次对水母伞体的肌肉结构进行了模块化设计,研制了SMA丝驱动的动作单元,并对其驱动特性进行了实验研究。最后设计了6个内嵌式动作单元驱动的仿生水母伞体推进器,利用流体动力学手段对其进行了仿真研究,并在设计硅胶模具的基础上完成了原理样机的制作。

Taking the jellyfish as the research object,the umbrella water jet propeller driven by SMA wires was designed by imitating its jet propulsion. Firstly,through studying the morphological characteristics,the mode of motion and the muscle structure of jellyfish were analyzed,the mathematical model of action characteristics and propulsion of jellyfish umbrella body was established. Secondly,the muscles structure of the jellyfish umbrella body was modularly designed,the action unit driven by SMA wire was developed,and the driver was invesrigated. 6 bionic umbrella propellers embedded motion drive unit were designed,the simulation with the fluid dynamics methods was carried on,and a prototype was made based on the silica gel mould design.