| 引用本文: | 王扬威,王振龙,李健.形状记忆合金丝驱动的仿生喷射推进器[J].哈尔滨工业大学学报,2011,43(9):33.DOI:10.11918/j.issn.0367-6234.2011.09.007 |
| WANG Yang-wei,WANG Zhen-long,LI Jian.A biomimetic water-jetting vehicle actuated by shape memory alloy wires[J].Journal of Harbin Institute of Technology,2011,43(9):33.DOI:10.11918/j.issn.0367-6234.2011.09.007 |
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| 摘要: |
| 为了给水下机器人提供一种高速、高效、高机动性、高隐蔽性的推进器,研制了一种采用形状记忆合金丝驱动的模仿乌贼喷射推进原理的仿生喷射推进器.对乌贼的喷射推进机理和乌贼外套膜肌肉结构进行了分析.在适当简化的基础上,模仿乌贼外套膜的肌肉结构设计了记忆合金丝驱动的仿生喷射推进器结构,建立了推进器的几何模型.对推进器样机进行了初步性能实验.实验结果表明:仿生喷射推进器径向收缩均匀,能较好地模仿乌贼外套膜的柔性收缩运动,最大收缩应变8.8%,最高游速58 mm/s.该推进器结构简单,动作柔性好,游动无噪声,为研制仿生机器乌贼奠定了基础. |
| 关键词: 水下机器人 形状记忆合金丝 乌贼 仿生喷射推进器 |
| DOI：10.11918/j.issn.0367-6234.2011.09.007 |
| 分类号:TP242.3 |
| 基金项目:国家自然科学基金资助项目(50775049);机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题(SKLRS200805C) |
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| A biomimetic water-jetting vehicle actuated by shape memory alloy wires |
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WANG Yang-wei, WANG Zhen-long, LI Jian
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State Key Laboratory of Robotics and System,Harbin Institute Technology,150001 Harbin,China
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| Abstract: |
| To provide propulsive machine for underwater robot with high speed,high efficiency,high maneuverability and high hidden,a biomimetic water-jetting vehicle that imitated jetting propulsive principle of squids actuated by shaper memory alloy wires is developed.The jetting propulsive mechanism and the muscle structure of squids are analyzed firstly.Then the structure of the biomimetic water-jetting vehicle,imitating the muscle structure of squids,and based on proper simplification is designed.The geometrical model is set up.At last,the propulsive performance of the vehicle is experimented.The experimental results show that the biomimetic water-jetting vehicle can imitate the flexible contract of the mantle of squids;the radial contract is uniform;the maximal contractive strain is 8.8 % and the maximal swimming speed is 58 mm/s.In conclusion,the vehicle has simple structure,flexible jetting motion and zero noise,providing basis for further research on biomimetic robot squid. |
| Key words: underwater robot shaper memory alloy wire squid biomimetic water-jetting vehicle |
