形状记忆合金丝驱动的仿生墨鱼水下机器人的原型设计

高飞; 王玉魁; 王振龙; 王扬威; 李健

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

高飞¹,
王玉魁¹,
王振龙^1,2, ,,
王扬威¹,
李健¹

1.
哈尔滨工业大学机电工程学院,黑龙江哈尔滨 150001
2.
微系统与微结构制造教育部重点实验室,黑龙江哈尔滨 150001

详细信息

作者简介:
高飞（1986-），男，博士生．研究领域：仿生水下机器人技术，流体仿真，智能材料应用等．
王玉魁（1977-），男，博士，副教授．研究领域：特种加工技术，微细加工技术，仿生水下机器人技术等．
王振龙（1963-），男，博士，教授，博士生导师．研究领域：特种加工技术，微细加工技术，仿生水下机器人技术等．

通信作者:
王振龙，wangzl@hit.edu.cn

中图分类号: TP242.3
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出版历程
- 收稿日期: 2012-06-26
- 修回日期: 2013-02-27
- 发布日期: 2013-05-14

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

1.
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
2.
Key Laboratory of Micro-systems and Micro-structures Manufacturing, Ministry of Education, Harbin 150001, China

摘要

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．
- 墨鱼 /
- 鳍波动推进 /
- 喷射推进 /
- 形状记忆合金丝 /
- 仿生机器人
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.
- cuttlefish /
- undulating fin propulsion /
- jet propulsion /
- shape memory alloy wire /
- biomimetic robot

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参考文献(11)

[1]	董正之.中国动物志软体动物门头足纲[M].北京:科学出版社,1988:21-22. Dong Z Z. Fauna in China Mollusca Cephalopods[M]. Beijing: Science Press, 1988: 21-22.
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[9]	王振龙,杭观荣,王扬威,等.乌贼游动机理及其在仿生水下机器人上的应用[J].机械工程学报,2008,44(6):1-9. Wang Z L, Hang G R, Wang Y W, et al. Swimming mechanism of squid/cuttlefish and its application to biomimetic underwater robots[J]. Chinese Journal of Mechanical Engineering, 2008, 44(6): 1-9.
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[11]	周晗.仿生波动推进水下机器人水动力计算与实验研究[D].长沙:国防科学技术大学,2009. Zhou H. Computational and experimental hydrodynamics of underwater robots propelled by bionic undulating fins[D]. Changsha: National University of Defense Technology, 2009.

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文章访问数: 94
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形状记忆合金丝驱动的仿生墨鱼水下机器人的原型设计

通信作者: 王振龙，wangzl@hit.edu.cn

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出版历程

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

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出版历程

目录

通信作者:
王振龙，wangzl@hit.edu.cn