The paper addresses the designs of a caudal peduncle actuator, which is able to furnish a thrust for swimming of a robotic fish. The caudal peduncle actuator is based on concepts of ferromagnetic shape memory alloy （...The paper addresses the designs of a caudal peduncle actuator, which is able to furnish a thrust for swimming of a robotic fish. The caudal peduncle actuator is based on concepts of ferromagnetic shape memory alloy （FSMA） composite and hybrid mechanism that can provide a fast response and a strong thrust. The caudal peduncle actuator was inspired by Scomber Scombrus which utilises thunniform mode swimming, which is the most efficient locomotion mode evolved in the aquatic environment, where the thrust is generated by the lift-based method, allowing high cruising speeds to be maintained for a long period of time. The morphology of an average size Scomber Scombrus （length in 310 mm） was investigated, and a 1：1 scale caudal peduncle actuator prototype was modelled and fabricated. The propulsive wave characteristics of the fish at steady speeds were employed as initial design objectives. Some key design parameters are investigated, i.e. aspect ratio （AR） （AR = 3.49）, Reynolds number （Re = 429 649）, reduced frequency （σ = 1.03）, Strouhal number （St = 0.306） and the maximum strain of the bent tail was estimated at ε = 1.11% which is in the range of superelasticity. The experimental test of the actuator was carried out in a water tank. By applying 7 V and 2.5 A, the actuator can reach the tip-to-tip rotational angle of 85° at 4 Hz.展开更多
The numerical simulation of the self-propelled motion of a fish with a pair of rigid pectoral fins is presented.A Navier-Stokes equation solver incorporating with the multi-block and overset grid method is developed t...The numerical simulation of the self-propelled motion of a fish with a pair of rigid pectoral fins is presented.A Navier-Stokes equation solver incorporating with the multi-block and overset grid method is developed to deal with the multi-body and moving body problems.The lift-based swimming mode is selected for the fin motion.In the lift-based swimming mode,the fin can generate great thrust and at the same time have no generation of lift force.It can be found when a pair of rigid pectoral fins generates the hydrodynamic moment,it may also generate a lateral force opposite to the centripetal direction,which has adverse effect on the turn motion of the fish.Furthermore,the periodic vortex structure generation and shedding,and their effects on the generation of hydrodynamic force are also demonstrated in this article.展开更多
文摘The paper addresses the designs of a caudal peduncle actuator, which is able to furnish a thrust for swimming of a robotic fish. The caudal peduncle actuator is based on concepts of ferromagnetic shape memory alloy （FSMA） composite and hybrid mechanism that can provide a fast response and a strong thrust. The caudal peduncle actuator was inspired by Scomber Scombrus which utilises thunniform mode swimming, which is the most efficient locomotion mode evolved in the aquatic environment, where the thrust is generated by the lift-based method, allowing high cruising speeds to be maintained for a long period of time. The morphology of an average size Scomber Scombrus （length in 310 mm） was investigated, and a 1：1 scale caudal peduncle actuator prototype was modelled and fabricated. The propulsive wave characteristics of the fish at steady speeds were employed as initial design objectives. Some key design parameters are investigated, i.e. aspect ratio （AR） （AR = 3.49）, Reynolds number （Re = 429 649）, reduced frequency （σ = 1.03）, Strouhal number （St = 0.306） and the maximum strain of the bent tail was estimated at ε = 1.11% which is in the range of superelasticity. The experimental test of the actuator was carried out in a water tank. By applying 7 V and 2.5 A, the actuator can reach the tip-to-tip rotational angle of 85° at 4 Hz.
基金Project supported by the National Natural Science Foundation of China (Grant Nos.50739004,11072154)the Foundation of State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University (Grant No.GKZD 010053-11)supported by the Program for Professor of Special Appointment (Eastern Scholar) at Shanghai Institutions of Higher Learning (Grant No.2008007)
文摘The numerical simulation of the self-propelled motion of a fish with a pair of rigid pectoral fins is presented.A Navier-Stokes equation solver incorporating with the multi-block and overset grid method is developed to deal with the multi-body and moving body problems.The lift-based swimming mode is selected for the fin motion.In the lift-based swimming mode,the fin can generate great thrust and at the same time have no generation of lift force.It can be found when a pair of rigid pectoral fins generates the hydrodynamic moment,it may also generate a lateral force opposite to the centripetal direction,which has adverse effect on the turn motion of the fish.Furthermore,the periodic vortex structure generation and shedding,and their effects on the generation of hydrodynamic force are also demonstrated in this article.
