CAJ | 학술논문

研究了一种采用鳐科模式游动、柔性胸鳍摆动方式推进的形状记忆合金(SMA)丝驱动型仿生蝠鲼机器鱼.首先,对双吻前口蝠鲼游动动作进行了分析,建立了蝠鲼胸鳍柔性摆动的简化运动模型.然后对能够模仿蝠鲼肌肉动作的智能材料进行了分析.最后设计了SMA丝驱动的柔性仿生胸鳍和仿生蝠鲼机器鱼,并分析了SMA丝的热力学特性,确定了控制规律.该机器鱼外形与双吻前口蝠鲼外形相似,身体呈现扁平形状,有一对三角形的柔性仿生胸鳍,直线游动速度达到79 mm/s,最小转弯半径为118mm.该机器鱼游动稳定性好,无噪声.
연구료일충채용요과모식유동、유성흉기파동방식추진적형상기억합금(SMA)사구동형방생복분궤기어.수선,대쌍문전구복분유동동작진행료분석,건립료복분흉기유성파동적간화운동모형.연후대능구모방복분기육동작적지능재료진행료분석.최후설계료SMA사구동적유성방생흉기화방생복분궤기어,병분석료SMA사적열역학특성,학정료공제규률.해궤기어외형여쌍문전구복분외형상사,신체정현편평형상,유일대삼각형적유성방생흉기,직선유동속도체도79 mm/s,최소전만반경위118mm.해궤기어유동은정성호,무조성.
A biomimetic manta ray robot fish actuated by shape memory alloy (SMA) wires is presented.The robot fish is propelled by oscillation of a pair of flexible pectoral fins, and swims like a kind of rajiform model.Firstly, swimming characteristic of manta ray is analyzed and a simple kinematic model of manta ray flexible pectoral fin is built.Secondly, the intelligent materials for simulating the muscle motion of manta ray are analyzed.Finally, the flexible biomimetic pectoral fin actuated by SMA wires, the biomimetic manta ray robot fish is developed, and the thermodynamics analysis on SMA wire is performed to optimize the control rule of SMA wire.The biomimetic manta ray robot fish is similar to manta ray in shape.It also has a flat-form body and a pair of triangular flexible pectoral fins.Its maximal swimming speed in line is 79 mm/s.Its minimum turning radius is 118 mm.It can swim stealthily with good stability.