高飞, 王玉魁, 王振龙, 王扬威, 李健. 形状记忆合金丝驱动的仿生墨鱼水下机器人的原型设计[J]. 机器人, 2013, 35(3): 346-351. DOI: 10.3724/SP.J.1218.2013.00346
引用本文: 高飞, 王玉魁, 王振龙, 王扬威, 李健. 形状记忆合金丝驱动的仿生墨鱼水下机器人的原型设计[J]. 机器人, 2013, 35(3): 346-351. DOI: 10.3724/SP.J.1218.2013.00346
GAO Fei, WANG Yukui, WANG Zhenlong, WANG Yangwei, LI Jian. Prototype Design of a Kind of Biomimetic Cuttlefish Underwater Robot Actuated by SMA Wires[J]. ROBOT, 2013, 35(3): 346-351. DOI: 10.3724/SP.J.1218.2013.00346
Citation: GAO Fei, WANG Yukui, WANG Zhenlong, WANG Yangwei, LI Jian. Prototype Design of a Kind of Biomimetic Cuttlefish Underwater Robot Actuated by SMA Wires[J]. ROBOT, 2013, 35(3): 346-351. DOI: 10.3724/SP.J.1218.2013.00346

形状记忆合金丝驱动的仿生墨鱼水下机器人的原型设计

Prototype Design of a Kind of Biomimetic Cuttlefish Underwater Robot Actuated by SMA Wires

  • 摘要: 采用鳍波动推进和喷射推进复合方式进行游动的墨鱼,兼具机动性和快速性.本文模仿其肌肉结构,采用在柔性硅胶中嵌入形状记忆合金丝的结构设计, 分别研制了一种能够柔性弯曲的柔性鳍单元结构和一种能够柔性收缩和扩张的仿生外套膜结构,并以此为基础分别研制出一种仿生波动鳍推进器和一种仿生喷射推进器, 用以模拟墨鱼的游动机制,并对两种仿生推进器的推进性能进行了测试.最后研制了一种仿生墨鱼水下机器人原理样机,并进行了游动试验.

     

    Abstract: Cuttlefish can swim with great maneuverability by undulating their fins and can swim with high speed by jetting. To mimic the muscle structure of the cuttlefish, a kind of flexible fin unit which can bend to both sides and a kind of biomimetic mantle which can flexibly contract and expand, are developed with the structure that SMA (shape memory alloy) wires are embedded into the flexible silicone rubber. Then a kind of biomimetic undulating fin and a kind of biomimetic jet propeller based on the former design are developed to mimic the swimming mechanism of cuttlefish. And the thrust performance of both of the propellers is tested. At last, a prototype of biomimetic cuttlefish robot is developed and the swimming experiments are carried out.

     

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