Design and Implementation of Bionic Pectoral Fin of Labriform
LIU Qiang1,2, GONG Chenglong1, JI Zhicheng2
1. School of Electronic Engineering, Huaihai Institute of Technology, Lianyungang 222005, China;
2. College of Internet of Things Engineering, Jiangnan University, Wuxi 214122, China
Based on the analysis of the muscle and skeleton structure as well as the neuromuscular control mechanism of labriform pectoral fin, a new under-actuated bionic pectoral fin is designed, and the structure, function and parameters of this bionic pectoral fin are described. Then, a distributed real-time measurement and control system is designed for this device based on CAN (controller area network) bus. Meanwhile, the structure and function of hardware and software of this system are analyzed in detail. At last, a prototype of bionic system of pectoral fin is manufactured, and the feasibility and validity of this new bionic system of pectoral fin are proven by experiment in simulating the propulsion motion of real pectoral fin.
[1] Sfakiotakis M, Lane D M, Davies J B C. Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Oceanic Engineering, 1999, 24(2): 237-252. [2] Tangorra J L, Lauder G V, Hunter I W, et al. The effect of fin ray flexural rigidity on the propulsive forces generated by a biorobotic fish pectoral fin[J]. The Journal of Experimental Biology, 2010, 213(23): 4043-4054. [3] Gottlieb J R, Tangorra J L, Esposito C J, et al. A biologically derived pectoral fin for yaw turn manoeuvres[J]. Applied Bionics and Biomechanics, 2010, 7(1): 41-55. [4] Alben S, Madden P G, Lauder G V. The mechanics of active fin-shape control in ray-finned fishes[J]. Journal of the Royal Society Interface, 2007, 4(13): 243-256. [5] Palmisano J, Ramamurti R, Lu K J, et al. Design of a biomimetic controlled-curvature robotic pectoral fin[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2007: 966-973.[6] Ramamurti R, Geder J, Palmisano J, et al. Computations of flapping flow propulsion for unmanned underwater vehicle design[J]. AIAA Journal, 2010, 48(1): 188-201. [7] Tangorra J L, Davidson S N, Hunter I W, et al. The development of a biologically inspired propulsor for unmanned underwater vehicles[J]. IEEE Journal of Oceanic Engineering, 2007, 32(3): 533-550. [8] Phelan C, Tangorra J L, Lauder G, et al. A biorobotic model of the sunfish pectoral fin for investigations of fin sensorimotor control[J]. Bioinspiration and Biomimetics, 2010, 5(3): 1-14.[9] Thorsen D H, Westneat M W. Diversity of pectoral fin structure and function in fishes with labriform propulsion[J]. Journal of Morphology, 2005, 263(2): 133-150. [10] 刘强,龚成龙,纪志成.咽颌运动模式鱼类胸鳍的运动学建模及仿真[J].机械工程学报,2011,47(17):22-28. Liu Q, Gong C L, Ji Z C. Kinematics model and simulation of pectoral fin of labriform fish[J]. Chinese Journal of Mechanical Engineering, 2011, 47(17): 22-28.[11] Lauder G V, Drucker E G. Morphology and experimental hydrodynamics of fish fin control surfaces[J]. IEEE Journal of Oceanic Engineering, 2004, 29(3): 556-571. [12] Gottlieb J R. The development of a multi-functional bio-robotic pectoral fin[D]. Philadelphia, USA: Drexel University, 2009.[13] Shoele K, Zhu Q. Numerical simulation of a pectoral fin during labriform swimming[J]. The Journal of Experimental Biology, 2010, 213(12): 2038-2047. [14] 刘玉凤,刘学军.基于增量式光电编码器的电机测速研究[J].机械与电子,2010(10):45-47. Liu Y F, Liu X J. Research on measuring the speed of motor based on increamental optical-electrical encoder[J]. Machinery & Electronics, 2010(10): 45-47.
