摘要
为研究设计一种柔软度高、环境适应性强的新型仿生机器鱼,模仿鲨鱼外形及鲔科鱼类的游动姿态,设计了一种采用液压柔性驱动结构的仿生机器鱼.针对单关节液压驱动柔性机器鱼存在其C型摆动姿态不符合鲔科鱼类摆动规律的问题,采用两关节液压柔性驱动模拟鱼类S型摆动,并根据液压柔性驱动器原理设计仿生鱼的内部结构.依据理论波动方程确定机器鱼的摆动幅值,借助数值模拟计算施加在柔性驱动器内部的压强载荷大小,并分析计算液压柔性驱动器的驱动效率.应用有限元分析软件模拟仿生鱼在流体中的自主游动过程,并将两关节机器鱼与单关节机器鱼的自主巡游过程进行对比仿真,获得两种机器鱼在流体中自主巡游时的运动姿态、游动速度及流场情况.结果表明,在相同的频率与尾鳍摆幅下,两关节柔性机器鱼的巡游平均速度为0.29 BL/s(BL为鱼体体长),高于单关节机器鱼巡游平均速度0.15 BL/s,且由速度矢量图可得出两关节仿生鱼的S型摆动姿态更接近真实鱼类摆动规律,并在运动过程中会产生一系列离散的反向卡门涡街,推进效率高.
In order to study and design a new type of bionic robotic fish with high softness and strong environmental adaptability,imitating the shape of shark and the swimming posture of tuna fish,a bionic robotic fish with hydraulic flexible driving structure is designed.In view of the problem that the single-joint hydraulically driven flexible robotic fish has a C-shaped swing posture that does not conform to the swing rule of tuna fish,a two-joint hydraulic flexible drive is used to simulate the S-shaped swing of the fish,and the internal structure of the bionic fish is designed according to the principle of the hydraulic flexible actuator.According to the theoretical wave equation,the swing amplitude of the robotic fish is determined,the magnitude of the pressure load applied inside the flexible actuator is calculated by numerical simulation,and the driving efficiency of the hydraulic flexible actuator is analyzed and calculated.The software of finite element analysis is used to simulate the autonomous swimming process of the robotic fish in the fluid.And the autonomous cruise process of the two-joint robotic fish and the one-joint roboic fish are simulated and compared to obtain the movement postures,swimming velocity and flow field of the two robotic fishes when they autonomously cruised in the fluid.The results show that at the same frequency and tail-fin swing,the average velocity of the two-joint soft roboic fish cruising is 0.29 BL/s,which is higher than the average velocity of the the one-joint roboic fish 0.15 BL/s.And frome the velocity vector diagram,it can be concluded that the S-type swing of the two-joint roboic fish is closer to the real fish swing attitude,and a series of discrete reverse Karman Vortex Streets will be generated during the movement,so the two-joint bionic fish has a higher propulsion efficiency.
作者
教柳
张保成
张开升
赵波
Jiao Liu;Zhang Baocheng;Zhang Kaisheng;Zhao Bo(Department of Mechanical and Electrical Engineering,School of Engineering,Ocean University of China,Qingdao 266100,China)
出处
《力学学报》
EI
CSCD
北大核心
2020年第3期817-827,共11页
Chinese Journal of Theoretical and Applied Mechanics
基金
山东省2017年重点研发计划资助项目(2017GHY15015)。
关键词
仿生机器鱼
柔性
液压
游动性能
bionic robot fish
flexibility
hydraulic
swimming performance
