仿生机器鱼框架机构动力学分析与轻量化设计

DYNAMICS ANALYSIS AND LIGHTWEIGHT DESIGN OF BIONIC ROBOTIC FISH FRAME MECHANISM

框架机构作为仿生机器鱼重要的零件,对其进行轻量化设计是提高仿生机器鱼推进效率的有效途径。在三维设计平台中构建虚拟仿生机器鱼的框架及尾部摆动三维实体模型。基于扑翼理论,分析了仿生机器鱼尾鳍在运动中的力学特性,采用瞬时负载数值模拟方法获得仿生机器鱼尾鳍瞬时负载。在机械系统动力学分析软件Adams环境下导入尾鳍机构进行分析,获得了仿生机器鱼框架机构的运动载荷。通过对仿生机器鱼框架的瞬态模拟,研究了仿生机器鱼动态力学实时特征。基于拓扑优化,对仿生机器鱼框架的关键区域进行轻量化设计。结果表明,等效应力、等效应变、总变形和质量分别降低了12%、16%、5.3%和10.69%。仿生机器鱼框架轻量化设计方法提高了仿生机器鱼的机动性能,为仿生机器鱼的设计与研究提供了可靠的理论基础。

As an important part of the bionic robotic fish,lightweight design of the frame mechanism was an effective way to improve the efficiency of bionic robotic fish propulsion.The frame and tail swing three-dimensional solid model of virtual bionic robotic fish were constructed on the three-dimensional design platform.Based on flapping wing theory,the mechanical characteristics of the tail fin of bionic robotic fish in motion were analyzed,and the instantaneous load was obtained by numerical simulation method.The caudal fin mechanism was introduced into ADAMS environment for dynamic analysis,and the motion load of the bionic robotic fish frame mechanism was obtained.Using the transient simulation of bionic robot fish frame,the real-time dynamic mechanical characteristics of bionic robotic fish were studied.Based on topology optimization,the key areas of the bionic robotic fish frame are lightweight designed.The results show that the equivalent stress,equivalent strain,total deformation and mass are reduced by 12%,16%,5.3%and 10.69%respectively.The lightweight design method of bionic robotic fish frame improves the maneuverability of bionic robotic fish and provides a reliable theoretical basis for the design and research of bionic robotic fish.