仿生水母机器人SMA驱动技术及试验研究
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摘要
受水母喷射式推进方式的启发,研制了一种以SMA弹簧作为驱动材料的仿生水母机器人。本文首先对SMA弹簧性能做了试验研究,验证了采用SMA弹簧作为仿生水母机器人驱动源的可行性。并在此基础上,提出了一种基于SMA弹簧的直线差动式驱动器,经试验得出了驱动器推杆运动速度与负载的关系。然后对仿生水母机器人游动时动力学进行分析,并使用数值模拟的方法对仿生水母机器人运动阻力进行了计算,得出了在不同工作状态下,仿生水母机器人运动阻力的变化曲线。最后,对仿生水母机器人进行了试验测试,仿生水母机器人达到了预期游速,验证了SMA驱动仿生机器人技术的可行性。
Simulating the jet propel movement mechanism,a kind of jellyfish-like robot has been developed,which is actuated by shape memory alloy(SMA)spring.The property of SMA spring was tested to verify the feasibility to serve as actuator of the robot.Then,a liner differential SMA spring was designed and the relationship between the velocity of the pushrod and the load has been calculated.By analyzing the hydrodynamic performance of the robot jellyfish,resistance it was numerically calculated by and the variation curve of the resistance with the different operating positions was got.Finally,tank testing shows swimming velocity of the robot jellyfish reached 44.4 mm/s in average,which corroborated feasibility of SMA actuator technology.
Simulating the jet propel movement mechanism,a kind of jellyfish-like robot has been developed,which is actuated by shape memory alloy(SMA)spring.The property of SMA spring was tested to verify the feasibility to serve as actuator of the robot.Then,a liner differential SMA spring was designed and the relationship between the velocity of the pushrod and the load has been calculated.By analyzing the hydrodynamic performance of the robot jellyfish,resistance it was numerically calculated by and the variation curve of the resistance with the different operating positions was got.Finally,tank testing shows swimming velocity of the robot jellyfish reached 44.4 mm/s in average,which corroborated feasibility of SMA actuator technology.
引文
[1]孔庆福,吴家明,贾野.舰船喷水推进技术研究[J].舰船科学技术,2004,26(3):28-30.Kong Qingfu,Wu Jiaming,Jia Ye,Chen Guojun.Research on warship water jet propulsion[J].Ship Science and Technology,2004,26(3):28-30.
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[4] Zheng Chen,Um T,Bart-Smith H.Smart Actuation and Sensing Systems-Recent Advances and Future Challenges[M].InTech.2012:223-248.
[5] Guo S X,Shi L W,Ye X F,et al.A new jellyfish type of underwater micro-robot[C]//2007IEEE International Conference on Mechatronics and Automation.Harbin,China:IEEE,2007:509-514.
[6]王扬威,王振龙,李健,杭观荣.形状记忆合金驱动仿生蝠鲼机器鱼的设计[J].机器人,2010,32(2):256-261.Wang Yangwei,Wang Zhenlong,Li Jian,Hang Guanrong.Development of a Biomimetic Manta Ray Robot Fish[J],Robot,2010,32(2):256-261.
[7]苏玉东,叶秀芬,郭书祥.基于IPMC驱动的自主微型机器鱼[J].机器人,2010,32(2):262-270.Su Yudong,Ye Xiufen,Guo Shuxiang.An Autonomous Micro Robot Fish Based on IPMC Actuator[J],Robot,2010,32(2):262-270.
[8]史伟.基于SMA驱动的仿蚯蚓蠕动式微型管道机器人的研究[D].哈尔滨:哈尔滨工程大学,2008.Shi Wei.Research on Earthworm-like Crawl Type Micro Pipe Robot Based on SMA Driven[D].Harbin:Harbin Engineering University,2008.
[9] Daniel T L.Mechanics and Energetics of Medusan Jet Propulsion[J].Canadian Journal of Zoology-Revue Canadienne De Zoologie,1983,61(6):1406-1420.
[2] Sfakiotakis M,Lane M.D,Davies J,Bruce C.Review of fish swimming modes for aquatic locomotion[J],IEEE Journal of Oceanic Engineering,1999,24(2):237-252.
[3] Ayers J,Wilbur C,Olcott C.Lamprey Robots[C]Proceedings of the International Symposium on Aqua Bio mechanisms.Hiratsuka,Japan:Tokai University,2000:1-6.
[4] Zheng Chen,Um T,Bart-Smith H.Smart Actuation and Sensing Systems-Recent Advances and Future Challenges[M].InTech.2012:223-248.
[5] Guo S X,Shi L W,Ye X F,et al.A new jellyfish type of underwater micro-robot[C]//2007IEEE International Conference on Mechatronics and Automation.Harbin,China:IEEE,2007:509-514.
[6]王扬威,王振龙,李健,杭观荣.形状记忆合金驱动仿生蝠鲼机器鱼的设计[J].机器人,2010,32(2):256-261.Wang Yangwei,Wang Zhenlong,Li Jian,Hang Guanrong.Development of a Biomimetic Manta Ray Robot Fish[J],Robot,2010,32(2):256-261.
[7]苏玉东,叶秀芬,郭书祥.基于IPMC驱动的自主微型机器鱼[J].机器人,2010,32(2):262-270.Su Yudong,Ye Xiufen,Guo Shuxiang.An Autonomous Micro Robot Fish Based on IPMC Actuator[J],Robot,2010,32(2):262-270.
[8]史伟.基于SMA驱动的仿蚯蚓蠕动式微型管道机器人的研究[D].哈尔滨:哈尔滨工程大学,2008.Shi Wei.Research on Earthworm-like Crawl Type Micro Pipe Robot Based on SMA Driven[D].Harbin:Harbin Engineering University,2008.
[9] Daniel T L.Mechanics and Energetics of Medusan Jet Propulsion[J].Canadian Journal of Zoology-Revue Canadienne De Zoologie,1983,61(6):1406-1420.