连续变形柔性连杆鱼尾推进机构设计与运动静力分析  

Mechanism Design and Kineto-Static Analysis of a Flexible Linkage for Robotic Fish Propulsion

作　　者：刘嘉乐 陈根良[1,2] 王皓[1,2] LIU Jiale;CHEN Genliang;WANG Hao(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,Shanghai 200240,China;Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计与研究》2024年第3期64-69,74,共7页Machine Design And Research

基　　金：国家重点研发计划(2019YFA0709001);国家自然科学基金(52022056)资助项目;上海市科学技术委员会项目基金(21NL2600200)。

摘　　要：针对现有水下仿生推进机构结构复杂、运动生硬、柔性不足、效率较低的问题,本文提出了一种新型鱼尾结构,通过弹性板的连续变形来模拟鱼尾的体干波曲线,差动驱动产生鱼尾往复摆动。该构型由两个变截面弹性板和尾鳍刚性平台组成,通过双侧直线驱动产生大尺度变形,在机构的末端产生类似于真实鱼类尾鳍的运动。针对该方案建立运动静力模型,用于模拟和计算不同驱动输入下尾部的位姿和驱动力,采用主轴分解法建立的协调连续变形模型,将弹性梁大变形问题转化串联机构静力学问题,进而通过梯度迭代法可以快速而准确地对运动静力模型进行求解。解析模型的建立为连续变形柔性鱼尾的运动控制提供了依据,实验验证了该方法的可行性。In response to the existing issues of complex structure,rigid motion,insufficient flexibility and low efficiency in underwater biomimetic propulsion mechanisms,this paper proposes a novel fish tail structure.It simulates the body wave curve of a fish tail through the continuous deformation of elastic plates and generates reciprocating tail movement through differential driving.The configuration consists of two variable cross-section elastic plates and a rigid tail fin platform,producing large-scale deformation through bilateral linear driving,resulting in motion resembling that of a real fish caudal fin at the end of the mechanism.A motion-static model is established for this design to simulate and calculate the posture and driving force of the tail under different driving inputs.A coordinated continuous deformation model,established using the principal-axis decomposition method,transforms the problem of significant deformation in elastic beams into a statics problem of tandem mechanism.Subsequently,the gradient iteration method is applied for rapid and accurate solutions to the motion-static model.The analytical model provides a basis for the motion control of continuous deformation flexible fish tails,and experimental validation confirms the feasibility of this configuration.

关 键 词：仿生鱼 水下推进 柔性机构 主轴分解法 

分 类 号：O343.2[理学—固体力学] TH112.5[理学—力学]