肌肉性静水骨骼原理的仿乌贼鳍推进器

模拟乌贼鳍动作的肌肉性静水骨骼原理的仿乌贼鳍推进器由推进模块、遥控模块、驱动模块和电池组等几部分组成.推进模块由2个水平鳍构成,每个水平鳍由1张鳍膜和5个由形状记忆合金丝驱动的柔性鳍单元组合而成.柔性鳍单元模拟乌贼鳍结构,能实现柔性弯曲.柔性鳍单元动作过程中利用弹性机制,在弯曲时存储弹性能,在回复时释放弹性能,从而减少能量消耗.对柔性鳍单元的形状记忆合金丝进行了热力学分析,发现采用短脉宽、大电流的脉冲可使柔性鳍单元在较高动作频率时,达到较大的弯曲角度.在空气中和水中对柔性鳍单元进行了弯曲试验,验证了柔性鳍单元的设想和控制方法.对该推进器模仿短鳍乌贼的鳍拍动进行了游动试验,达到了40mm/s的最大直线游动速度和22(°)/s的最大打转游动速度.该推进器对环境友好,能实现柔性动作和水下无声推进.

Squid fin-like propeller based on the principle of muscular hydrostat

A squid fin-like propeller based on the principle of muscular hydrostat is presented. The propeller, which can simulate the movements of squid fin,consists of propeller module,remote control module,driving module and a battery unit. The propeller module contains 2 horizontal fins,and each fin consists of a membrane and 5 flexible biomimetic fins which are actuated by shape memory alloy wires. The biomimetic fin mimics the structure of the squid/cuttlefish fin and can bend flexibly. During the action of biomimetic fin,elastic mechanism is incorporated to improve its performance by storing elastic energy during bending and releasing elastic energy during return. Thermal analysis of shape memory alloy wire in biomimetic fin was performed and it is found that for the biomimetic fin,large bending angle can be got at high frequency by applying shortwidth,heavy-current pulse. Bending experiments of the biomimetic fin were carried out in air and water, which validated the design and the control method of the biomimetic fin. Experiments on the squid fin-like propeller were carried out by simulating the flapping movement of short-fin squid fin. The maximum straight swimming speed and the maximum rotary speed were 40 mm/s and 22 (°) /s,respectively. This environmentfriendly propeller can produce flexible movements and can be propelled quietly in water.