基于新月鱼尾推进理论的多连杆鱼骨仿生设计
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摘要
基于新月鱼尾推进相关理论,设计了一种新型的符合身体/尾鳍推进模式的仿生多连杆鱼骨。通过对新月鱼尾推进相关理论的分析,确定了影响鱼体推进的主要设计参数,即躯椎摆角、尾椎摆角及尾鳍摆角。以金枪鱼中体型较小的鲣鱼作为仿生原型,通过逆向工程技术,对其体厚方向轮廓进行曲线拟合并得到其拟合函数。将拟合函数作为鱼骨结构设计边界条件,结合设计参数,通过逆运动学原理设计了躯椎、尾椎、尾鳍、躯椎驱动、尾椎驱动、尾鳍驱动6部分连杆系统。利用仿真软件ADAMS对该机构可行性进行仿真试验,并进行了实物样机试验。试验结果表明:该多连杆鱼骨结构可以实现仿生鱼推进。
Based on the theory of crescent-tail propulsion,a new type of bionic multi-link fishbone that conforms to the body and caudal fin(BCF) propulsion model is designed. First, the main design parameters,which influence the fish's propulsion are determined,including the swing angle of the body,the swing angle of caudal vertebra and the swing angle of tail. The skipjack,which has smaller body size among Tuna bream,is taken as the prototype of multi-link fishbone. Second,the fitting function of multilink fishbone is obtained through reverse engineering technology. Third,the fitting function is used as the boundary condition of the design of fishbone structure. Finally,combined with the design parameters,the six-part connecting rod system,which includes the caudal vertebra,the caudal fin,the torso drive and the caudal vertebra,is designed by the inverse kinematics principle of the body. The feasibility of the mechanism is simulated by ADAMS software. The prototype experiment is carried out and the data obtained are analyzed. Experimental results show that the structure of multi-link fishbone can carry out the fish propulsion.
Based on the theory of crescent-tail propulsion,a new type of bionic multi-link fishbone that conforms to the body and caudal fin(BCF) propulsion model is designed. First, the main design parameters,which influence the fish's propulsion are determined,including the swing angle of the body,the swing angle of caudal vertebra and the swing angle of tail. The skipjack,which has smaller body size among Tuna bream,is taken as the prototype of multi-link fishbone. Second,the fitting function of multilink fishbone is obtained through reverse engineering technology. Third,the fitting function is used as the boundary condition of the design of fishbone structure. Finally,combined with the design parameters,the six-part connecting rod system,which includes the caudal vertebra,the caudal fin,the torso drive and the caudal vertebra,is designed by the inverse kinematics principle of the body. The feasibility of the mechanism is simulated by ADAMS software. The prototype experiment is carried out and the data obtained are analyzed. Experimental results show that the structure of multi-link fishbone can carry out the fish propulsion.
引文
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[2]刘芳芳.基于柔性鳍波动的水下仿生系统推进性能研究[D].杭州:浙江大学机械工程学院,2012.Liu fangfang.Research on propulsion performances of flexible undulating fin based biomimetic system[D].Hangzhou:School of Mechanical Engineering,Zhejiang University,2012.
[3]Sfakiotakis M,Lane D M,Davies J B C.Review of fish swimming modes for aquatic locomotion[J].IEEE Journal of Oceanic Engineering,1999,24(2):237252.
[4]Triantafyllou G S,Triantafyllou M S,Grosenbaugh M A.Optimal thrust development in oscillating foils with application to fish propulsion[J].Fluids Struct,1993,7(2):205224.
[5]Triantafyllou G S,Triantafyllou M S.An efficient swimming machine[J].Scientific American,1995,272(3):6470.
[6]YaoTsu T W.Swimming of a waving plate[J].Journal of Fluid Mechanics,1961,10(3):321344.
[7]Chopra M G.Hydromechanics of lunatetail swimming propulsion:part2[J].Journal of Fluid Mechanics,1974,64(2):375392.
[8]Chopra M G.Hydromechanics of lunatetail swimming propulsion:part2[J].Journal of Fluid Mechanics,1977,79(1):4969.
[9]Lan C E.The unsteady quasivortexlattice method with applications to animal propulsion[J].Journal of Fluid Mechanics,1979,93(4):747765.
[10]陈东辉,刘伟,吕建华,等.基于虾夷扇贝体表结构的玉米茬根捡拾器仿生设计[J].吉林大学学报:工学版,2017,47(4):11851193.Chen donghui,Liu wei,Lyu jianhua,et al.Bionic design of corn stucture collector based on surface structure of Patinopecten yessoensis[J].Journal of Jilin University(Engineering and Technology Edition),2017,47(4):11851193.
[11]郑文伟,吴克坚.机械原理[M].北京:高等教育出版社,2012.