形狀記憶合金絲驅(qū)動的仿生鯽魚設(shè)計與研究
發(fā)布時間：2019-02-26 14:49
【摘要】：仿生機(jī)器魚與傳統(tǒng)螺旋槳推進(jìn)的水下機(jī)器人相比,具有更高的游動效率以及更好機(jī)動性和穩(wěn)定性。而目前仿生機(jī)器魚廣泛采用電機(jī)驅(qū)動,普遍存在噪音大、效率低、動作生硬以及柔性不高等缺點(diǎn)。隨著智能材料科學(xué)的發(fā)展,采用與動物肌肉性能相似、具有傳感功能的智能材料制成機(jī)器魚的驅(qū)動結(jié)構(gòu),具有結(jié)構(gòu)簡易、柔性好、噪聲低以及易于主動產(chǎn)生復(fù)雜運(yùn)動等優(yōu)點(diǎn),因此逐步成為仿生機(jī)器魚驅(qū)動器未來的發(fā)展趨勢。首先,以鯽魚為仿生對象,在對其形態(tài)結(jié)構(gòu)以及游動機(jī)理進(jìn)行研究的基礎(chǔ)上,提出了研制一種形狀記憶合金(Shape memory alloy,SMA)絲驅(qū)動仿生鯽魚的設(shè)想。根據(jù)鯽魚樣本的肌肉驅(qū)動特征設(shè)計仿生鯽魚的驅(qū)動結(jié)構(gòu),并在此基礎(chǔ)上完成了柔性仿生魚尾的設(shè)計。同時設(shè)計了仿生鯽魚的剛性前身與控制系統(tǒng)。再者,對仿生鯽魚尾部的擺動性能進(jìn)行了分析,通過對柔性仿生魚尾的擺動過程進(jìn)行了力學(xué)分析獲取了SMA絲的應(yīng)力、應(yīng)變與魚尾的彎曲角度的關(guān)系方程。引入SMA絲電流加熱的熱力學(xué)方程以及描述SMA絲相變的本構(gòu)模型方程,結(jié)合力學(xué)分析的結(jié)果,可獲得魚尾最大彎曲角度關(guān)于加熱時間、加熱電壓和初始溫度的函數(shù)關(guān)系方程,以用于其擺動性能分析。最后,完成柔性尾鰭的制作并搭建了試驗(yàn)平臺用于測試柔性尾鰭的擺動性能,通過擺角試驗(yàn)、對稱性試驗(yàn)、擺動和回擺試驗(yàn)、加熱模式試驗(yàn)以及推進(jìn)力試驗(yàn),試驗(yàn)結(jié)果顯示柔性仿生魚尾在擺動角度為16°左右時,可達(dá)到最高1.4Hz的擺動頻率。而在擺動角度為21°和最高擺動頻率0.8Hz的條件下可獲得最大的平均推進(jìn)力0.041N。而仿生樣機(jī)的游動試驗(yàn)中,通過不同擺動頻率下游動性能的試驗(yàn)數(shù)據(jù)對比。在擺動角度25°,擺動頻率0.3Hz下仿生樣機(jī)具有較好的綜合游動性能并實(shí)現(xiàn)了最高游動速度0.28BL/s。
[Abstract]:Compared with the traditional propeller-propelled underwater robot, the bionic robotic fish has higher swimming efficiency, better maneuverability and stability. At present, the biomimetic robot fish is widely driven by motor, which has many disadvantages, such as high noise, low efficiency, rigid motion and low flexibility and so on. With the development of intelligent material science, intelligent material, which is similar to animal muscle and has sensing function, is used to make the driving structure of robot fish. It has the advantages of simple structure, good flexibility, low noise, and easy to produce complex motion on its own initiative, and so on. Therefore, it has gradually become the future development trend of bionic robot fish driver. Firstly, taking crucian carp as biomimetic object, on the basis of studying its morphological structure and swimming mechanism, the idea of developing a shape memory alloy (Shape memory alloy,SMA) wire driven crucian carp is put forward. According to the muscle driving characteristics of crucian carp samples, the driving structure of biomimetic crucian carp is designed, and the flexible bionic fish tail is designed on this basis. At the same time, the rigid predecessor and control system of biomimetic crucian carp are designed. Furthermore, the swinging performance of the tail of the biomimetic crucian carp is analyzed. The relationship equation between the stress, strain and the bending angle of the fish tail is obtained through the mechanical analysis of the swinging process of the flexible biomimetic fish tail. The thermodynamic equation of the current heating of SMA wire and the constitutive model of describing the phase transition of SMA wire are introduced. Combined with the results of mechanical analysis, the functional equation of the maximum bending angle of the fish tail with respect to the heating time, heating voltage and initial temperature can be obtained. In order to analyze its swing performance. Finally, the flexible tail fin is made and the test platform is built to test the swing performance of the flexible tail fin. The swing angle test, symmetry test, swing and back swing test, heating model test and propulsion force test are used to test the swing performance of the flexible tail fin. The experimental results show that when the swing angle of the flexible bionic fish tail is about 16 擄, the maximum swing frequency of 1.4Hz can be achieved. When the swing angle is 21 擄and the maximum swing frequency is 0.8Hz, the maximum average propulsion force is 0.041 N. In the swimming test of the bionic prototype, the experimental data of the downstream dynamic performance of the bionic prototype are compared with each other at different swing frequencies. At the swing angle of 25 擄and the swing frequency of 0.3Hz, the bionic prototype has better comprehensive swimming performance and achieves the highest swimming speed of 0.28BL.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
本文編號：2430880
[Abstract]:Compared with the traditional propeller-propelled underwater robot, the bionic robotic fish has higher swimming efficiency, better maneuverability and stability. At present, the biomimetic robot fish is widely driven by motor, which has many disadvantages, such as high noise, low efficiency, rigid motion and low flexibility and so on. With the development of intelligent material science, intelligent material, which is similar to animal muscle and has sensing function, is used to make the driving structure of robot fish. It has the advantages of simple structure, good flexibility, low noise, and easy to produce complex motion on its own initiative, and so on. Therefore, it has gradually become the future development trend of bionic robot fish driver. Firstly, taking crucian carp as biomimetic object, on the basis of studying its morphological structure and swimming mechanism, the idea of developing a shape memory alloy (Shape memory alloy,SMA) wire driven crucian carp is put forward. According to the muscle driving characteristics of crucian carp samples, the driving structure of biomimetic crucian carp is designed, and the flexible bionic fish tail is designed on this basis. At the same time, the rigid predecessor and control system of biomimetic crucian carp are designed. Furthermore, the swinging performance of the tail of the biomimetic crucian carp is analyzed. The relationship equation between the stress, strain and the bending angle of the fish tail is obtained through the mechanical analysis of the swinging process of the flexible biomimetic fish tail. The thermodynamic equation of the current heating of SMA wire and the constitutive model of describing the phase transition of SMA wire are introduced. Combined with the results of mechanical analysis, the functional equation of the maximum bending angle of the fish tail with respect to the heating time, heating voltage and initial temperature can be obtained. In order to analyze its swing performance. Finally, the flexible tail fin is made and the test platform is built to test the swing performance of the flexible tail fin. The swing angle test, symmetry test, swing and back swing test, heating model test and propulsion force test are used to test the swing performance of the flexible tail fin. The experimental results show that when the swing angle of the flexible bionic fish tail is about 16 擄, the maximum swing frequency of 1.4Hz can be achieved. When the swing angle is 21 擄and the maximum swing frequency is 0.8Hz, the maximum average propulsion force is 0.041 N. In the swimming test of the bionic prototype, the experimental data of the downstream dynamic performance of the bionic prototype are compared with each other at different swing frequencies. At the swing angle of 25 擄and the swing frequency of 0.3Hz, the bionic prototype has better comprehensive swimming performance and achieves the highest swimming speed of 0.28BL.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
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