章永华, 马记, 何建慧, 吴月, 杨杰. 基于人工肌肉的仿生机器鱼关节机构设计与力学分析[J]. 机器人, 2006, 28(1): 40-44..
ZHANG Yong-hua, MA Ji, HE Jian-hui, WU Yue-hua, YANG Jie. Design and Analysis of an Artificial Muscle Based Bionic Robot-fish Joint. ROBOT, 2006, 28(1): 40-44..
Abstract：This paper focuses on the design of bionic structure of a robot-fish joint,which depends on a sufficient analysis of anatomical structure of a live fish,by using artificial muscles as its main driver,and introduces a detailed method to design an SMA(shape memory alloy) spring.Meanwhile,the swing model of fish tail fin is established and simplified.Then,based on the torque balance equation of swing motion,the SMA drive torque and resistance torque,flow frictional torque and structure(flow) inertia torque are analyzed,and the quantitative relationship among several parameters is established.This work will provide a significant reference for bionic robot-fish research.
[1] Sfakiotakis M,Lane D M,Davies J,et al.Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Ocean Engineering,1999,24(2):237-252. [2] lkuta K.Micro/miniature shape memory alloy actuator[A]. Proceedings of the 1990 IEEE Intemational Conference on Robotics and Automation[C]. USA:IEEE,1990.2156-2161. [3] 杨杰,吴月华.形状记忆合金及其应用[M]. 合肥:中国科学技术大学出版社,1993. [4] Fukuda T,Hosokai H,Kikuchi I,et al.Distribution type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism[A]. Proceedings of the 1990 IEEE International Conference on Robotics and Automation[C]. USA:IEEE,1990.1316-1321. [5] Garner L J,Wilson L N,Lagoudas D C,et al.Development of a shape memory alloy actuated biomimetic vehicle[J]. Smart Materials and Structures,2000,9 (5):673-683. [6] 普朗特.流体力学[M]. 北京:科学出版社,1981. [7] Birch J M,Dickson W B,et al.Dickinson force production and flow structure of the leading edge vortex on flapping wings at high and low Reynolds numbers[J]. Journal of Experimental Biology,2004,207:1063-1072. [8] Ma N,Song G.Control of shape memory alloy actuator using pulse width modulation[J]. Smart Materials and Structures,2003,12(5):712-719.
