基于SMA丝驱动的水下增程式推进装置研究

Research on Underwater Extended Range Propulsion Device Driven by SMA Wire

仿生乌贼水下喷射推进机器人是从自然界水下软体动物的运动中获得灵感,基于功能和结构仿生原理研制的新型喷射推进机器人。本文以SMA丝作为驱动器,采用喷水和柔性鳍复合推进,兼具快速性和灵活性、柔韧性和耐压性强等优点,研制出的一种SMA丝驱动水下增程式推进装置,在水下探测、取样和生物研究等方面有着理论意义和实践意义。

Bionic squid underwater jet propulsion robot is a new type of jet propulsion robot developed based on the principle of function and structure bionics,which is inspired by the movement of underwater mollusks in nature.In this paper,shape memory alloy(SMA)wire is used as the brake,and water spray and flexible fins are used for composite propulsion.It has the advantages of rapidity,adaptability,flexibility and strong pressure resistance.A SMA wire driven underwater extended range propulsion device has been developed,which has theoretical and practical significance in underwater exploration,sampling and biological research.