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形状记忆合金驱动仿生蝠鲼机器鱼的设计 总被引:4,自引:0,他引:4
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118 mm.该机器鱼游动稳定性好,无噪声. 相似文献
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论述了一种微型机器鱼.首先对亚鲹科、鲹科和鳐科模式游动动作进行了简化和抽象,确定柔性弯曲是这三种模式的一种简化的游动动作.然后从乌贼鳍的肌肉性静水骨骼鳍的结构得出灵感,提出并研制了能够实现柔性弯曲的柔性鳍单元;它应用动物弹性机制,由形状记忆合金(shape memory alloy,简称SMA)丝驱动.再对SMA丝进行了热力学分析,从而优化其驱动.最后,基于柔性鳍单元,设计了无线遥控的尾鳍推进微型机器鱼,并进行了游动试验;实现了亚鲹科和鲹科模式游动动作.该机器鱼无任何转动、滑动部件,能够实现快速、安静的隐蔽性游动. 相似文献
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本文从仿生学的角度出发,提出一种仿生物肌肉驱动性能的磁性橡胶人工肌肉,并对其结构和特点进行了分析。 相似文献
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“人工鱼”动画模型设计 总被引:1,自引:0,他引:1
人工鱼生物力学模型及运动控制 1.人工鱼生物力学模型的结构 大多数鱼都是用它们的尾鳍作为主要的驱动器官。尾鳍驱动有三种基本类型:第一种类型,如具有刚性躯体和带壳的鱼所表现的,使用尾鳍和邻近躯体的一小部分;第二种类型,就像青鱼、鲭鱼、大马哈鱼等能灵活游动的鱼种所表现的,至少有半个躯体是可弯曲的;第三种类型,如美洲鳗所表现的,在波浪起伏的水流中游动,几乎整个身体都是可以变形的。 我们开发的人工鱼的生物力学模型的尾部驱动模式为第二种类型。我们设计了曲23个质量点和91个“弹簧-阻尼”单元所组成的“质点-… 相似文献
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形状记忆合金(SMA)作为一类仿人肌肉驱动的智能柔性驱动材料,在机器人及高端制造等领域逐步得到应用,但由于SMA的热力学效应,造成输入输出之间存在强饱和回滞非线性,从而影响了驱动性能.此外在引入负载后, SMA柔性驱动部件输出性能表现出更为复杂的驱动特性.因此,如何有效抑制带载条件下SMA柔性驱动部件强饱和非线性影响,成为提升驱动性能的关键.针对此问题,本文重点研究带载条件下SMA柔性驱动部件的建模及驱动控制算法.针对SMA驱动部件中的强饱和非线性特性,本文提出一类修正(MGPI)回滞模型来进行表征.通过设定线性输入形状函数,不仅有效解析表征SMA驱动部件中的饱和回滞非线性,并且便于控制器设计.基于MGPI模型,考虑柔性驱动部件的动态特性,本文提出了带载条件下的SMA柔性驱动部件的自适应神经网络控制算法,实现考虑内部非线性和外部干扰条件下的驱动精度有效提升,并保证全局稳定性. 相似文献
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《Advanced Robotics》2013,27(1-2):177-196
This paper aims to design a novel bionic fish propelled by oscillating paired pectoral fins. Flapping motion deformation of the nature sample, the cow-nosed ray, is realized with simple mechanical structure through optimization. Locomotion analysis of the nature sample under linear cruise swimming conditions is carried out. Simplified mathematical models of the pectoral fin are obtained to be the design foundation of the bionic fin rays and the bionic fish. The number of fin rays is decided according to the passing kinematic wave shape and number. Distance and structure parameters are optimized, and determined by the minimum area error method. A novel two-stage slide–rocker mechanism is designed to fulfill the driving requirements with only one servo motor. System design of a new bionic fish robot is presented, including the mechanical design and the control method. Main bionic characteristics extracted from the cow-nosed ray are fulfilled by the prototype and verified by experiments. 相似文献
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为了研制一种轻便、可穿戴的仿生手指康复机器人,在分析手指肌肉骨骼生物参数及致动机理的基础上,设计了一种形状记忆合金丝(Shape Memory Alloy, SMA)驱动的软体柔性手指康复机器人,建立了其运动学和力学模型。以手套为结构设计的原型,通过控制SMA丝的收缩来模拟手指肌肉肌腱的收缩,从而实现辅助手指屈曲伸展运动的功能。试验研究了手指康复机器人的运动性能和抓握性能。试验结果表明,手指柔性康复机器人最大弯曲角度接近正常人手关节角度,最大指尖力可达18N,能完成日常所需的屈曲伸展以及抓握功能。 相似文献
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主轴系统的热误差是影响数控机床加工精度的重要因素。受自然界蜂巢分形结构的启发,设计了一种基于蜂巢仿生流道的主轴系统冷却结构,并建立了蜂巢仿生流道冷却结构模型。在数值传热学相关理论基础上,通过Fluent有限元软件对蜂巢仿生流道(单孔和多孔流道截面结构)和螺旋形流道冷却结构方案进行仿真计算,流固耦合分析结果显示两种前者流道结构比后者的流动特性较好,散热效果更好。在同等边界条件和冷却液体积相同情况下,多孔蜂巢形流道截面结构比单孔蜂巢形流道截面结构的散热效果更理想、温差更小。研究结果可以为主轴系统的冷却结构乃至电子元器件等微系统结构热设计提供参考。 相似文献
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《Advanced Robotics》2013,27(2):89-108
The driving-force-generating principle of an actuator made of shape memory alloy (SMA) is based on the thermal elastic martensitic transformation, a kind of elastic phenomenon. As a result, conventional SMA actuators which use a circular pulley have tended to exhibit undesirable characteristics such as the maximum generable torque being changed depending on the rotating angle when the robot joint was driven by rotating motion transformed from expansion/contraction of the SMA, so that the servo system to support the torque under a certain load could not have an operable range wide enough for practical application. This paper intends to clarify these problems of SMA actuators and proposes a new joint mechanism using a σ-shaped non-circular pulley, called the σ-mechanism, for joint linkage to overcome the problems. This design enables the maximum generated torque to be kept uniform at all times by reducing the torque-arm-length in inverse proportion when the SMA tension increases corresponding to the rotating angle of the joint. Subsequently, a specifically designing algorithm for the proposed σ-mechanism is discussed. The validity of the new mechanism is demonstrated by an experimental model using an SMA actuator with a σpulley. 相似文献
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Pneumatic muscle (PM) of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy (SMA) braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things. 相似文献
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对于欠驱动吊车而言, 已有的方法都只考虑如何消除摆角. 然而当钢丝绳的摆角很小时, 钢丝绳上可能仍 然会存在严重的谐振. 针对吊车的消谐问题, 本文率先提出了一种基于钢丝绳–电机轴的非线性谐振力矩模型. 具体而言, 先利用振动力学的方法, 建立了非线性谐振力矩模型, 该模型可以将钢丝绳上的非线性谐振力矩归算到电机轴上, 然后通过电机控制器调节电机的输出力矩, 使得电机输出的基波主力矩上叠加一个大小相等方向相反的非线 性谐振力矩, 以达到消除钢丝绳上的谐振力矩的目的. 最后通过Simulink仿真和实验证明该方法具有良好的控制性 能, 不仅可以有效消除钢丝绳上的谐振, 并且能进一步减小摆角. 相似文献
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六足仿生机器人因其灵活度好、可靠性高、适应性强等特点而得到广泛应用;针对六足仿生巡检机器人,从结构设计、步态规划、系统仿真和实物构建等方面,探索一般意义上系统设计和实现方法;首先设计了六足仿生机器人的多关节机械结构,并给出了此类系统的量化建模方法;然后采用了重心随动的三角步态规划方法,对系统稳定性和典型步态规划进行了量化分析;在此基础上基于标准D-H参数法建立了机器人的运动学模型,并且通过仿真实现了六足机器人向前纵向行走和向右横向行走的直线平稳运动;最后通过六足仿生巡检机器人实物测试,验证了所设计的结构和步态规划方法的可行性和有效性。 相似文献