| 何建慧.电机与智能材料复合驱动仿生鳍推进器研究[J].轻工机械,2017,35(5):16-20 |
| 电机与智能材料复合驱动仿生鳍推进器研究 |
| Research on Biomimetic Fin Propulsor Compound Driven by Motor and Intelligent Material |
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| DOI：10.3969/j.issn.1005 2895.2017.05.004 |
| 中文关键词: 仿生系统 智能材料 形状记忆合金 波动鳍 鳍条 凸轮 曲柄滑块机构 |
| 英文关键词:biomic system intelligent material shape memory alloy undulating fin fin ray cam slider crank mechanism |
| 基金项目:浙江省自然科学基金项目(LY15E060001)；台州职业技术学院校级一般课题(2016YB01) |
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| 中文摘要: |
| 提出一款电机与智能材料复合驱动的仿生鳍推进器。首先分析仿生鳍推进器的机械结构和控制电路；根据鳍条和机构运动过程中的受力情况，计算了凸轮电机所需输出扭矩大小；构建形状记忆合金丝驱动的鳍条弯曲变形热动力学模型；实验测试了鳍条幅度分别按照逐渐增大运动和等幅运动（从根部至端部）时推进器的平均推进速度和平均推进力随鳍条运动频率的变化情况。结果显示：仿生鳍能够实现波动、摆动以及复杂三维柔性运动，满足推进、转弯以及稳定性调节等多种需求。 |
| 英文摘要: |
| A motor intelligent material compound drive biomimetic propulsor was proposed. Firstly, the mechanical structure and control circuit of biomimetic fin propulsor was analyzed. Secondly, the output torque of motor was calculated according to the force of fin ray and structure endured during movement. Also, the analysis of thermodynamics on shape memory alloy (SMA) wire based on fin ray bending was established. Finally, the variety of averaged propulsion velocity and averaged thrust with frequency was tested under the condition that the fin ray amplitude gradually increased from roots to ends as well as the amplitude was fairly constant. The results indicate that the biomimetic fin is able to achieve undulating motion, oscillating motion and complex three dimensional flexible motion, which also satisfies the requirements of cruising, turning, stability control. |
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