仿生水母机器人SMA驱动技术及试验研究  

Study on Biomimetic Jellyfish Robot Actuated by Shape Memory Alloy

作　　者：谭俊哲[1,2] 闫家政 王树杰 袁鹏[1,2] 司先才 TAN Jun-Zhe;YAN Jia-Zheng;WANG Shu-Jie;YUAN Peng;SI Xian-Cai(College of Engineering,Ocean University of China,Shandong Province,Qingdao 266100,China;Ocean Engineering Key Lab of Qingdao,Shandong Province,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100 [2]青岛市海洋可再生能源重点实验室,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2018年第12期129-134,共6页Periodical of Ocean University of China

基　　金：国家自然科学基金项目(51279191)资助~~

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 44.4mm/s in average,which corroborated feasibility of SMA actuator technology.

关 键 词：仿生机器人 仿生水母 形状记忆合金 SMA驱动器 

分 类 号：TK73[交通运输工程—轮机工程]