压电宏纤维驱动的仿生尾鳍微推进力测量系统
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TP24;TH113

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国家自然科学基金资助项目(51505238, 51805276, 61703217); 浙江省自然科学基金资助项目(LQ15E050002)


Cantilever Micro⁃thrust Measurement System of Flexible Biomimetic Fin Actuated by Macro Fiber Composites
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    摘要:

    提出了用于压电宏纤维(macro fiber composites,简称MFC)驱动的柔性仿锦鲤尾鳍推进力动态精密测量的悬臂式微推进力测量系统。基于矩形截面悬臂梁的纯弯曲和扭转变形理论,首先,提出微推进力测量构件的设计指标,其弯曲刚度实验标定结果与设计指标基本吻合,水下稳定摆动测试结果表明,MFC驱动的柔性仿生尾鳍在激励频率7,8 Hz时分别取得最大摆幅峰峰值5.08 mm和最大摆速104.3 mm/s;然后,开展了柔性尾鳍在最大摆幅及最大摆速状态下产生的微推进力动态测量实验,结果显示柔性尾鳍产生的推进力在一个稳定摆动周期内出现两次波峰起伏,且存在着时间占比不同的推进和拖拽两种状态。结果表明,最大摆速状态下,柔性尾鳍稳定摆动过程在65.6%的周期内为推进状态,产生的瞬时最大推进力和拖拽力分别为6.26和-2.50 mN,数值积分得到的周期平均推进力为1.90 mN,而柔性尾鳍最大摆幅状态下产生的平均推进力为0.26 mN。所提出的柔性仿生尾鳍及微推进力精密测量系统的具有较好的参考作用。

    Abstract:

    A cantilever micro-thrust measurement system is proposed in this paper, which is used to measure the generated dynamic thrust of a flexible biometric fin actuated by macro fiber composites (MFC). Based on the bending and torsion deflection theory of cantilever, the design parameters of the cantilever are obtained. The experimental calibration result of the bending rigidity matches well with the desired index. The underwater experiments show that the proposed fin achieves its maximum peak-to-peak oscillation magnitude of 5.08 mm and velocity of 104.3 mm/s in the steady state, with the excitation frequencies of 7 and 8 Hz, respectively. The generated dynamic thrust of the fin in the cases of the maximum oscillation displacement and velocity are experimentally obtained using the proposed measurement system. It can be seen that the generated thrust is fluctuated with two peaks within one oscillation circle, and both the thrust-producing and drag-producing pattern are observed in the oscillating periods. In the case of the maximum oscillation velocity, variations of the measured thrust shows that the MFC-actuated flexible fin is indicative of the thrust-producing pattern in 62.9% of an oscillation circle in the steady state, and the generated maximum instantaneous thrust, drag and mean thrust are 6.24, 2.50 and 1.90 mN, while the generated mean thrust is only 0.26 mN in the case of the maximum oscillation displacement. Accordingly, the feasibilities of the proposed MFC-actuated biomimetic fin and micro-thrust system are demonstrated.

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  • 在线发布日期: 2021-07-05
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