杭观荣, 王振龙, 李健, 王扬威. 基于柔性鳍单元的尾鳍推进微型机器鱼设计研究[J]. 机器人, 2008, 30(2): 171-175,181.
引用本文: 杭观荣, 王振龙, 李健, 王扬威. 基于柔性鳍单元的尾鳍推进微型机器鱼设计研究[J]. 机器人, 2008, 30(2): 171-175,181.
HANG Guan-rong, WANG Zhen-long, LI Jian, WANG Yang-wei. Development of a Caudal-Fin-Propelled Micro Robot Fish Based on Flexible Fins[J]. ROBOT, 2008, 30(2): 171-175,181.
Citation: HANG Guan-rong, WANG Zhen-long, LI Jian, WANG Yang-wei. Development of a Caudal-Fin-Propelled Micro Robot Fish Based on Flexible Fins[J]. ROBOT, 2008, 30(2): 171-175,181.

基于柔性鳍单元的尾鳍推进微型机器鱼设计研究

Development of a Caudal-Fin-Propelled Micro Robot Fish Based on Flexible Fins

  • 摘要: 论述了一种微型机器鱼.首先对亚鲹科、鲹科和鳐科模式游动动作进行了简化和抽象,确定柔性弯曲是这三种模式的一种简化的游动动作.然后从乌贼鳍的肌肉性静水骨骼鳍的结构得出灵感,提出并研制了能够实现柔性弯曲的柔性鳍单元;它应用动物弹性机制,由形状记忆合金(shape memory alloy,简称SMA)丝驱动.再对SMA丝进行了热力学分析,从而优化其驱动.最后,基于柔性鳍单元,设计了无线遥控的尾鳍推进微型机器鱼,并进行了游动试验;实现了亚鲹科和鲹科模式游动动作.该机器鱼无任何转动、滑动部件,能够实现快速、安静的隐蔽性游动.

     

    Abstract: A micro robot fish is presented.Firstly,the swimming movements of subcarangiform,carangiform and rajiform fishes are simplified and abstracted,and flexible bending is considered as a simplified swimming movement of these swimming modes.Secondly,inspired by the muscular hydrostat structure of squid/cuttlefish fin,flexible fin with the function of flexible-bending is developed,which uses elastic mechanism of animals and is actuated by shape memory alloy(SMA) wires.Then thermodynamics analysis of SMA wires is done to optimize the actuation of SMA wires.Finally,a caudal-fins-propelled micro robot fish based on flexible fins is developed,which is controlled remotely,and swimming experiments are also carried out to realize the swimming movement of subcarangiform and carangiform modes.The micro robot fish has no rotational or sliding parts,and can swim quickly,quietly and stealthily.

     

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