摘要
脉冲喷射推进是海洋生物中普遍存在的一种游动方式,从乌贼喷射推进的游动方式中受到启发,基于电磁动态驱动原理,设计了一种仿乌贼喷射推进的软电磁机器鱼.其由柔软的机体外壳、软电磁线圈和软电磁驱动薄膜组成,能够在动态电磁力的作用下改变内部腔体体积而实现循环反复的喷射推进.本文研究了不同设计参数和激励电流对软电磁驱动薄膜的振动特性的影响,并通过实验测试了在不同控制电流的幅值和频率下机器鱼的水下推进力和游动速度.研究结果表明,机器鱼的最大平均推力为0.0784 N,机器鱼在动态电磁激励作用下能够达到37.3 mm/s (约0.62身长/s)的最大游动速度,具有优越的游动性能.
Impulsive jet propulsion is a common swimming mode in marine organisms.Inspired by the swimming mode of squid jet propulsion,a soft robotic fish was designed based on the electromagnetic dynamic driving principle.The fish comprised a soft body shell,soft electromagnetic coil,and soft electromagnetic driving film,which can change the volume of the internal cavity under a dynamic electromagnetic force to achieve cyclic and repeated jet propulsion.In this study,the vibration characteristics of the soft electromagnetic driving film with different design parameters and excitation currents are studied,and the underwater propulsion force and swimming speed of the robotic fish are tested through experiments under different control current amplitudes and frequencies.The results show that under dynamic electromagnetic excitation,the robotic fish exhibits superior swimming performance,with a maximum average thrust of 0.0784 N and a maximum swimming speed of 37.3 mm/s(about 0.62 body length/s).
作者
张兵建
杜荣华
李汶柏
杜凯文
贺嘉怡
陈泽文
邹鸿翔
ZHANG BingJjian;DU RongHua;LI WenBo;DU KaiWen;HE JiaYi;CHEN ZeWen;ZOU HongXiang(School of Automotive and Mechanical Engineering,Changsha University of Science&Technology,Changsha 410114,China;School of Mechanical Engineering,Hunan Institute of Engineering,Xiangtan 411104,China;School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)
出处
《中国科学：物理学、力学、天文学》
CSCD
北大核心
2024年第6期136-150,共15页
Scientia Sinica Physica,Mechanica & Astronomica
基金
国家自然科学基金(编号:12002204,12172127)资助项目。
