仿蝠鲼机器鱼软体胸鳍建模与仿真

doi:10.3901/JME.2020.19.182

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 182-190.doi: 10.3901/JME.2020.19.182

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

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仿蝠鲼机器鱼软体胸鳍建模与仿真

陈令坤¹, 乔涛², 毕树生¹, 任行伟¹, 蔡月日¹

1. 北京航空航天大学机器人研究所北京 100191;
2. 中国科学院空天信息创新研究院北京 100094

收稿日期:2020-04-15 修回日期:2020-07-26 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 毕树生(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为全柔性机构及仿生机器人。E-mail:ssbi@buaa.edu.cn
作者简介:陈令坤,男,1992年出生,博士研究生。主要研究方向为仿生无人潜航器,软体机器人。E-mail:chenlingkun@buaa.edu.cn;乔涛,男,1984年出生,博士,工程师。主要研究方向为浮空器设计与发放、机器人技术。E-mail:qiaotao@aircas.ac.cn
基金资助:
北京市自然科学基金（3182019）和中央高校基本科研业务费专项资金资助项目。

Modeling and Simulation Research on Soft Pectoral Fin of a Bionic Robot Fish Inspired by Manta Ray

CHEN Lingkun¹, QIAO Tao², BI Shusheng¹, REN Xingwei¹, CAI Yueri¹

1. Robotics Institute, Beihang University, Beijing 100191;
2. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094

Received:2020-04-15 Revised:2020-07-26 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 介绍一种仿蝠鲼机器鱼上使用的软体胸鳍推进器，具有三维立体翼型并集成多个软体致动单元，具备更高形态及运动仿生度。分析提取了生物原型翼缘曲线并建立扑翼运动学模型，解耦描述胸鳍俯仰-摆转复合运动模式；对比了不同致动器数量的软体胸鳍运动特性与控制策略，并通过样机静态加载试验验证了有限元模型可靠性；基于格子-玻尔兹曼方法实现复杂曲面动态边界的流固耦合，在仿真环境中分析了单/多自由度软体胸鳍在不同工况下的扑翼推升力特性；数据对比表明多自由度胸鳍平均推力为单自由度的7.2倍，性能优势显著，为进一步水动力试验研究与机器鱼平台整合提供了数据预测与方向指导。

关键词: 仿生机器鱼, 软体胸鳍推进器, 扑翼运动学建模, 流固耦合

Abstract: A soft pectoral fin propeller used on a manta-like bionic robot fish is presented, which features three-dimensional profile with several multi-chamber pneumatic actuators integrated and can achieve higher form plus motion biomimetic performance. Based on motion features extracted from manta swimming analysis, a kinematic model is established to describe the oscillating-pitching coupled locomotion of the pectoral fin. Kinematic features and controlling strategies of the soft fin with different actuator amounts are evaluated by a finite element model with experimental verification. The Lattice-Boltzmann Method is introduced to solve the fluid-structure interaction problem of complex surface geometry and moving boundaries, for the purpose of analyzing the thrust and lift pattern of the fins with single or multiple motion DOFs in simulation environments. The advantage of multi-DOFs soft fin in propelling performance is proved by 7.2 times increase in average thrust compared to single-DOF fin, which offers an effective way to predict and guide hydrodynamic experiments as well as robotic fish platform integration in future research.

Key words: bionic robot fish, soft pectoral fin propeller, fin-flapping kinematic model, fluid-structure interaction

中图分类号:

TP242

陈令坤, 乔涛, 毕树生, 任行伟, 蔡月日. 仿蝠鲼机器鱼软体胸鳍建模与仿真[J]. 机械工程学报, 2020, 56(19): 182-190.

CHEN Lingkun, QIAO Tao, BI Shusheng, REN Xingwei, CAI Yueri. Modeling and Simulation Research on Soft Pectoral Fin of a Bionic Robot Fish Inspired by Manta Ray[J]. Journal of Mechanical Engineering, 2020, 56(19): 182-190.

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仿蝠鲼机器鱼软体胸鳍建模与仿真

Modeling and Simulation Research on Soft Pectoral Fin of a Bionic Robot Fish Inspired by Manta Ray

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