超磁仿生鱼快速起动的控制和设计

本文首先对自然界鱼类的基本构造和工作原理进行仿生.以合金薄板,贴在该薄板的超磁致伸缩材料和外磁场分别模拟鱼尾骨架,鱼体肌肉和控制鱼体摆动的神经.建立起一个力学模型和一种计算方法.通过数值分析,揭示了仿生机器鱼起动过程中最佳模式是从低阶模态到高阶模态的迅速过渡.这样可以通过控制外磁场(强度和频率),从而实现控制仿生机器鱼从静止快速起动目的.研究成果为仿生机器鱼的设计提供依据和技术.

Control and design of the bionic robot-fish of the giant magnetostrictive material for fast-starting

In the present paper,the basic construction and principle of nature fishes are used.The alloy sheet,the giant magnetostrictive material(GMM),which is stuck on the sheet,and the external magnetic field are respectively simulated as the framework of the fishtail,the muscle of the fish and the nerve to control the swing of the fishtail for simulating the fast-starting of some natural fishes.Thus a mechanics model and new numerical method are presented.By analyzing the numerical results,it is revealed that the optimal mode for the starting is the fast-transition which is from the lower order mode to the higher order mode,so that the bionic robot-fish can swim quickly from the static state.Therefore,the starting of the fish can be controlled by dominating the magnetic field(amplitude and frequency).The method and results provide theoretical foundation and technique for designing bionic robot-fish.