| 引用本文: | 李健,郭艳玲,王振龙.形状记忆合金丝驱动的触手推进式仿生水母[J].哈尔滨工业大学学报,2014,46(1):104.DOI:10.11918/j.issn.0367-6234.2014.01.018 |
| LI Jian,GUO Yanling,WANG Zhenlong.A bionic jellyfish robot propelled by bio-tentacle propulsors actuated by shape memory alloy wires[J].Journal of Harbin Institute of Technology,2014,46(1):104.DOI:10.11918/j.issn.0367-6234.2014.01.018 |
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| 摘要: |
| 为研制一种高效自主游动的新型水下机器人,受水母的身体特征和鱼尾的推进模式的启发,利用智能材料——形状记忆合金丝(shape memory alloy,SMA)模拟肌肉纤维作为驱动材料,在对水母整体结构进行仿生改造,并对其运动策略进行分析的基础上,研制了一种由6个仿生触手推进器驱动的仿生机器水母原理样机．该机器人总长230 mm,直径110 mm,总质量590 g,自带能源动力,在无线遥控下能达到115 mm／s的直线游动速度和18 °／s的转弯速度．实验结果表明:该仿生水下机器人结构、密封简单,机动性强,能够无声推进,并具有生物友好性等优点,验证了形状记忆合金丝做仿生肌肉材料的可行性． |
| 关键词: 形状记忆合金丝 仿生水母 水下机器人 触手推进 多推进器 |
| DOI：10.11918/j.issn.0367-6234.2014.01.018 |
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| 基金项目:中央高校基本科研业务费专项资金资助(DL12BB19)； 国家自然科学基金资助项目(50775049). |
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| A bionic jellyfish robot propelled by bio-tentacle propulsors actuated by shape memory alloy wires |
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LI Jian1, GUO Yanling1, WANG Zhenlong2
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(1.College of Electromechanical Engineering, Northeast Forestry University,150040 Harbin, China; 2.School of Mechatronics Engineering, Harbin Institute of Technology,150001 Harbin, China)
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| Abstract: |
| Inspired by the body character of jellyfish and the swimming mode of caudal fin, a new-style efficient autonomous underwater vehicle tends to be developed. A kind of smart material-shape memory alloy wire is adopted as the actuator to imitate the muscle of jellyfish. Based on rebuilding the configuration of jellyfish and analyzing the swimming strategy, a bionic jellyfish robot prototype propelled by 6 bionic tentacle propulsors is developed. The robot is 230 mm in length, 110 mm in diameter, 590 g in weigh and contains power supply. The robot can reach 110 mm/s straight speed and 18°/s turning speed in wireless control. The swimming experiment demonstrates that the bionic swimmer has the merits of simple structure, easy to seal, good maneuverability, silent propulsion and biology friendly. The feasibility of taking shape memory alloy wires as bionic muscle material is verified. |
| Key words: shape memory alloy wires bionic jellyfish underwater robots propelled by bio tentacle propulsors multi propulsor |
