仿生蓝点魟的结构设计及建模

章永华; 何建慧

仿生蓝点魟的结构设计及建模

1.
台州职业技术学院机电系, 台州 318000

基金项目:

浙江省教育厅科研课题(Y201122502)

浙江省高校青年基金项目(#[2010] 175)资助

详细信息

作者简介:
章永华(1980-)，工程师，博士，研究方向为机电一体化和仿生机器人，yhzhang@tzvtc.com

计量
- 文章访问数: 249
- HTML全文浏览量: 57
- PDF下载量: 8
- 被引次数: 0
出版历程
- 收稿日期: 2011-03-22
- 刊出日期: 2015-06-10

Mechanism Design and Modeling of a Biomimetic Bluespotted Ray

1.
Department of Mechatronics Engineering, Taizhou Vocational Technical College, Taizhou 318000

摘要

摘要: 为了研制高机动性和高游动稳定性的水下推进器用于搜救任务、环境监测、资源勘查、军事侦察等,同时考虑到当前螺旋桨推进器对水生生物栖息环境的严重影响,选择了隶属于鳐科鱼类的蓝点魟作为仿生对象,并利用仿生学工程原理,开发出了高性能的仿生机器蓝点魟模型。介绍了活体生物的观察结果,分析了仿生蓝点魟的机构设计原理和方法,建立仿生蓝点魟的坐标系,给出了该坐标系下仿生蓝点魟鳍条摆动及鳍面波动的运动学和动力学方程。实验结果显示:仿生蓝点魟能够实现无半径转弯,游动过程鱼体基本保持稳定的姿态,对周边流体的扰动也非常小。
- 仿生蓝点魟 /
- 机构设计 /
- 运动学 /
- 动力学 /
- 建模
Abstract: To develop an underwater propulsor with high maneuverability and stability for the purpose of search and rescue,environment monitoring,resource detecting and military reconnoitering etc,as well as considering the badly effect on aquatic organism by modern screw propeller,the bluespotted ray was selected as bionic object upon extensive investigations and analysis on various fishes.Through principle of biomimetic engineering,a high performance biomimetic bluespotted ray model was developed.Firstly,we presented a brief introduction to the live bluespotted ray.Then,a detailed analysis on mechanical design principles and methods was conducted.Finally,a coordinate system was established to determine the kinematic and hydrodynamic equations of both oscillating fin ray and undulating fin.These works provide a theoretical basis for developing a high performance underwater propulsor.The initial experimental results illustrated that： the biomimetic bluespotted ray were able to achieve no-radius turning,its body could hold a stable posture during cruising and disturb surrounding fluid less.
- biomimetic bluespotted ray /
- mechanism design /
- kinematics /
- hydrodynamics /
- modeling

HTML全文

参考文献(22)

[1]	Colgate J E,Lynch K M.Mechanics and control of swimming:areview[J].IEEE Journal of Oceanic Engineering,2004,29(3):660～673
[2]	Blake R W.Fish functional design and swimming performance[J].Journal of Fish Biology,2004,65(5):1193～1222
[3]	章永华,何建慧,颜钦.仿生机器鲫鱼的设计及运动学实验研究[J].工程设计学报,2011,18(3)
[4]	Nakashima M,Tokuo K,Amiaga K,One K.Experimental studyof a self-propelled two-joint dolphin robot[A].Proceedings ofthe Ninth International Offsore and Polar Engineer Confer-ence[C],1994:419～214
[5]	Lauder G V,et al.The development of a biologically inspiredpropulsor for unmanned underwater vehicles[J].IEEE Journalof Oceanic Engineering,2007,32(3):533～550
[6]	Tangorra J L,et al.The effect of fin ray flexural rigidity on thepropulsive forces generated by a biorobotic fish pectoral fin[J].The Journal of Experimental Biology,2010,213:4043～4054
[7]	Liu J,Hu H.Biological inspiration:from carangiform fish tomulti-joint robotic fish[J].Journal of Bionic Engineering,2010,7:35～48
[8]	Low K H,Chong C W.Parametric study of the swimming per-formance of a fish robot propelled by a flexible caudal fin[J].Bioinsp Biomim,2010,5:1～12
[9]	Sfakiotakis M,Lane D M,Davies B C.An experimental undulat-ing-fin device using the parallel bellows actuator[A].Proceed-ings of the 2001 IEEE International Conference on Robotics&Automation[C],2001:2356～2362
[10]	Boileau R L,Fan T.Moore,Mechanization of Rajiform Swim-ming Motion:The Making of Robo-ray[D].University ofBritish Columbia,2002
[11]	Epstein M,et al.Generating thrust with a biologically-inspiredrobotic ribbon fin[A].IEEE/RSJ International Conference onIntelligent Robots and Systems[C],2006:2412～2417
[12]	Toda Y H,et al.The motion of a fish-like under-water vehiclewith two undulating side fins[A].Third International Sympo-sium on Aqua Bio-Mechanism[C],2006
[13]	Low K H,Willy A.Biomimetic motion planning of an undulatingrobotic fish fin[J].Journal of Vibration and Control,2006,12(12):1337～1359
[14]	Punning A,et al.A biologically inspired ray-like underwater ro-bot with electroactive polymer pectoral fins[J].IEEE Mecha-tronics and Robotics(MechRob'04).Aachen,2004,(2)
[15]	Takagi K,et al.Development of a rajiform swimming robot usingIonic polymer artificial muscles[A].Proceedings of the 2006IEEE/RSJ International Conference on Intelligent Robotsand Systems[C],2006:1861～1866
[16]	Hu T J,et al.Bionic inspirations of fish-like robots from rhine-canthus aculeatus[A].IEEE International Conference onMechatronics and Automation(IEEE ICMA06)[C],Luoy-ang,2006:639～643
[17]	王振龙,杭观荣,李健,王扬威.面向水下无声推进的形状记忆合金丝驱动柔性鳍单元[J].机械工程学报,2009,45(2)
[18]	Rosenberger L J.Functional morphology of undulatory pectoralfin locomotion in the stingray taeniura lymma(chondrichthyes:dasyatidae)[J].The Journal of Experimental Biology,1999,202:3523～3539
[19]	Rosenberger L J.Pectoral fin locomotion in batoid fishes:undu-lation versus oscillation[J].The Journal of Experimental Bi-ology,2001,204:379～394
[20]	Miriam A A.Mechanical properties of the dorsal fin muscle ofseahorse(hippocampus)and pipefish[J].Journal of Experi-mental Zoology,2002,293:561～577
[21]	Lighthill J,Blake R.Biofluiddynamics of balistiform and gymno-tiform locomotion.part 1.biological background and analysis byelongated-body theory[J].Journal of Fluid Mechanics,1990,212:183～207
[22]	章永华,何建慧,吴月华,杨杰.基于功能材料的柔性多关节水下仿鱼形推进器设计及分析[J].机器人,2006,28(4)