【摘要】 提出并实现了一种SMA丝驱动的仿乌贼水平鳍推进器。通过分析鳍的生理结构和波动规律,建立了仿乌贼水平鳍推进器的波动机构原理模型,提出了柔性鳍单元。然后设计了形状记忆合金丝驱动的、基于柔性鳍单元的无线电遥控仿乌贼水平鳍推进器,并对双侧10鳍单元的仿乌贼水平鳍推进器进行了游动试验。试验表明该推进器可以实现前进、后退、左右转功能,可以实现8mm/s的游动速度和12°/s的转弯速度,它具有无噪声、无污染、驱动电压低、机动性好、结构简单容易密封等优点,其扁平身体结构能够进入狭窄复杂的水下区域进行探测。更多还原

【Abstract】 A shape memory alloy wire activated squid fin like propeller was presented.The squid fin muscular and fin undulating movement were analyzed and then the squid fin like propeller undulating movement model was established based on the simplified results.A shape memory alloy wire activated squid fin like propeller was built.The radio frequency remote controlled propeller was based on the flexible biomimetic fin.Experiments were done to a 10 biomimetic fins 2-sided propeller.Experimental results showed that the propeller can swim forward and backward, and can steer to left and right.The swimming speed was 8 mm/s and the rotation speed is 12 °/s.The low voltage powered,easy to be sealed propeller can swim noiseless with good maneuverability,and it is environment-friendly.The flat body made it capable of swimming into and exploring narrow and complex region.更多还原