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Simulation Analysis of Bionic Robot Fish Based on MFC Materials

机译：基于MFC材料的仿生机器人鱼类仿真分析

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摘要

With the development of marine resources, research on underwater robots has received unprecedented attention. The discovery and application of new smart materials provide new ideas for the research of underwater robots, which can overcome the issues of traditional underwater robots and optimize their design. A macro fiber composite (MFC) is a new type of piezoelectric fiber composite that combines actuators and sensors. The material has excellent deflection, good flexibility, and a high electromechanical coupling coefficient. Bionic mechatronics design is an effective way to innovate mechatronics in the future and can significantly improve mechatronics system performance. As an important issue for the design of bionic mechatronics, it is necessary to make robots as soft as natural organisms to achieve similar biological movement with both higher efficiency and performance. Compared with traditional rigid robots, the design and control of a soft robotic fish are difficult because the coupling between the flexible structure and the surrounding environment should be considered, which is difficult to solve due to the large deformation and coupling dynamics. In this paper, an MFC smart material is applied as an actuator in the design of bionic robotic fish. Combined with the piezoelectric constitutive and elastic constitutive equations of the MFC material, the voltage-drive signal is converted to a mechanical load applied to the MFC actuator, which makes the MFC material deform and drives the movement of the robotic fish. The characteristics of caudal fin motion during the swimming process of the bionic robotic fish were analyzed by an acoustic-solid coupling analysis method. The motion control analysis of the bionic robotic fish was carried out by changing the applied driving signal. Through numerical analysis, a new type of soft robotic fish was designed, and the feasibility of using an MFC smart material for underwater bionic robotic fish actuators was verified. The new soft robotic fish was successfully developed to achieve high performance.
机译：随着海洋资源的发展，对水下机器人的研究已经受到前所未有的关注。新智能材料的发现和应用为水下机器人的研究提供了新的思路，可以克服传统水下机器人的问题并优化他们的设计。宏观纤维复合材料（MFC）是一种新型的压电纤维复合材料，结合了致动器和传感器。该材料具有出色的偏转，良好的灵活性和高机电耦合系数。仿生机电一体化设计是在未来创新机电一体化的有效方法，可以显着提高机电一体化系统性能。作为仿生机电一体化设计的一个重要问题，有必要使机器人变得柔软作为天然生物，以实现类似的生物运动，以较高的效率和性能。与传统的刚性机器人相比，软机器人鱼类的设计和控制很困难，因为应该考虑柔性结构与周围环境之间的耦合，这难以解决由于大的变形和耦合动力学。在本文中，MFC智能材料应用于仿生机器人鱼类设计中的执行器。结合MFC材料的压电组成型和弹性组成型方程，将电压驱动信号转换成施加到MFC致动器的机械负载，这使得MFC材料变形并驱动机器人鱼的运动。通过声学 - 固耦合分析方法分析了仿生机械鱼类游泳过程中尾鳍运动的特征。通过改变施加的驱动信号进行仿生机器人鱼类的运动控制分析。通过数值分析，设计了一种新型的软机器人鱼类，验证了使用MFC智能材料的MFC智能材料的可行性进行了验证。新的软机器人鱼被成功开发，以实现高性能。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第13期|2720873.1-2720873.9|共9页
  • 作者

    Zhang Chengguang;

  • 作者单位

    Zhoukou Normal Univ Sch Mech & Elect Engn Zhoukou 466001 Henan Peoples R China;

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