鳗鲡科鱼类变刚度特性对推进性能影响研究  

STUDY ON THE EFFECT OF VARIABLE STIFFNESS CHARACTERISTICS ON PROPULSION PERFORMANCE OF ANGUILLIFORM FISH

作　　者：张旭尧 崔祚 尹存宏[1] 程安楠 Zhang Xuyao;Cui Zuo;Yin Cunhong;Cheng Annan(School of Mechanical Engineering,Guizhou University,Guiyang 550025,China;School of Aerospace Engineering,Guizhou Institute of Technology,Guiyang 550003,China)

机构地区：[1]贵州大学机械工程学院,贵阳550025 [2]贵州理工学院航空航天工程学院,贵阳550003

出　　处：《力学学报》2024年第1期273-284,共12页Chinese Journal of Theoretical and Applied Mechanics

基　　金：国家自然科学基金(12002097,12262006);贵州省自然科学基金(ZK[2021]-266,[2017]5789-20);贵州理工学院高层次人才(XJGC20190956)资助项目。

摘　　要：生物学研究表明,波动推进鱼类的鱼体刚度对其推进性能有着重要影响,通过改变鱼体刚度可获得优异的游动特性,但鱼类肌肉驱动模式与鱼体刚度和游动性能的关系尚不清晰.鉴于此,文章以鳗鲡科鱼类作为研究对象,基于黏弹性梁理论和Taylor流体理论,建立由生物学钙离子肌肉驱动的鳗鲡科鱼类游动模型,研究肌肉驱动和鱼体刚度变化对推进性能的影响.结果表明,肌肉驱动力随刚度增加呈先快速增加后缓慢下降的变化趋势,而随着肌肉驱动力增加,鱼体游动速度随刚度增加而增加并逐渐趋于稳定.当肌肉驱动频率由1 Hz增加到2 Hz时,游动速度和启动加速度可分别提升55%和129%,可见增大鱼体刚度可显著提升推进性能.为了验证上述结论,设计了基于串并联结构的变刚度实验平台,实验表明鱼体的变刚度特性能显著提升推进性能.当舵机驱动频率由1 Hz增加到2 Hz时,通过统一变化弹簧刚度大小推力可提升2.5倍.上述研究结果可为改变鱼体刚度提升游动性能提供参数设计指导,为研制变刚度仿生机器鱼提供理论依据.Biological studies show that the stiffness of fish body has a significant impact on their propulsive performance,and the excellent swimming abilities can be achieved by varying body stiffness.However,the complex relations among the muscle actuations,the body stiffness and the swimming performance are still unclear.Therefore,the body of anguilliform fish,taken as the research object,is modelled by a viscoelastic beam in present study,and the Taylor resistance fluid theory is adopted to establish swimming fish model,in which the kinetic model of calcium ions is used to model the muscle actuations.The effects of muscle actuation and the variable body stiffness on the propulsive performance are analyzed.The results showed that with the increase of body stiffness,the force of muscle actuation was increased rapidly and then decreased slowly.When the force of muscle actuation increased,the forward speed increased with the body stiffness,and then phoned to stable gradually.When the frequency of muscle actuation was increased from 1 Hz to 2 Hz,the swimming speed and the start acceleration can be increased by 55%and 129%,respectively.These results indicated that the propulsion performance of swimming fish can be significantly improved by increasing the body stiffness.To verify these conclusions,an experiment platform,based on the series-parallel mechanism with variable stiffness,was proposed in present study,and the results also found that the variable stiffness of fish body had a significantly influence on the propulsive performance.In the experiments,the thrust can be increased by 2.5 times when the driving frequency of the servo was increased from 1 Hz to 2 Hz,and the spring stiffness was uniformly changed.Overall,these results throw a light to design robotic fish with better swimming performance by changing the body stiffness,and provide a theoretical basis for developing a robotic fish with variable stiffness.

关 键 词：鳗鲡科鱼类 肌肉驱动 变刚度 游动性能 

分 类 号：O352[理学—流体力学] R318.01[理学—力学]