仿生墨鱼机器人及其关键技术分析-bionic cuttlefish robot and its key technology analysis.docx

AbstractThe 21st century is the century of ocean. With the rapid development of science and technology, human beings begin to explore and utilize the marine resources more quickly. The underwater robots (Unmanned Underwater Vehicle, UUV) with the functions of exploration, salvage, detection and tracing have become important tools to explore ocean. In this paper, the cuttlefish is chosen as the bionic object. Based on analysis of their morphological character and swimming mechanism, a kind of biomimetic cuttlefish-like underwater robot actuated by shape memory alloy (SMA) wires has been developed, which can be propelled by jetting and undulating fin. The performance of the biomimetic robot and its parts has been studied through experiment as well. The research provides a new way to imitate jetting and undulating fin for biomimetic underwater robots research and provides basis for the subsequent development.Cuttlefish belong to cephalopoda class of marine mollusks. They can swim flexibly like fish through jetting and undulating fin. Moreover they can turn with zero radius and swim backward fast, which is difficult for fish. Through analysis of the swimming mode and force acting on cuttlefish, the kinematic model and dynamic model of undulating fin were established, including its hydrodynamics character. The kinematic model of the cross-section of mantle of cuttlefish was established, and variation of the thrust of jet with the contraction of the mantle was analyzed. The three-dimensional model of cuttlefish was established and the drag force due to its profile during the swimming process was also analyzed.The intramuscular structure and the action process of the cuttlefish fin are analyzed. Then an improved biomimetic flexible fin unit actuated by SMA wires which exhibits more symmetry in action process is investigated. The forces generated during the bending process are researched by experiments. Theory calculation shows that the maximum output force is 3.75 N and