鱼形机器人快速转向的运动特性研究

基于C形转向的仿生学研究和简化物理模型,建立了鱼形机器人快速转向的运动学方程,分析体干中线运动步态和鱼体质心的运动规律.计算了转动惯量、驱动力矩和阻力矩,建立C形转向的动力学模型.通过前摆转向的多步态仿真游动实验,解析鱼体柔性段弧长和相对弯曲度对质心轨迹、转动惯量、力矩、转动角位移和最大转动角速度的影响,提出了有效提高鱼形机器人快速转向性能的方法.     

基于浸入边界法的鱼体自主游动的数值模拟

对游动或飞行生物自主运动特性的深入研究,可促进仿生学的进一步发展。本文以"C"型游动鱼作为研究对象,建立了自主游动的柔性鱼模型。此模型较为真实地反映了鱼自主游动时鱼体内力(由鱼体肌肉收缩提供)、鱼体运动和外界流体之间的耦合作用。基于传统的反馈力方法和混合有限元浸入边界法对鱼的自主游动进行了数值模拟。分析了鱼自主游动启动阶段和巡游阶段流场特性及鱼体运动特征。模拟结果表明,受到鱼体自身组织结构和外界流场作用,鱼游动时通过呈"C"型和类"S"型的不断转换,以获取能量,实现鱼体自主游动。     

斑马鱼C型起动中动力学特性的活体实验研究

提出了一种从鱼类自主游动的运动学实验数据出发推算其动力学特性的实验研究方法。该方法基于变形体动力学方程,不仅可以计算出变形鱼体的整体转动角速度以完善其运动学数据,还可以计算出作用在自主游动的鱼体上的流体合力和流体合力矩,进而分析鱼体的力能学特征。本文运用此方法研究了斑马鱼的两种典型C型起动,对比分析了它们的运动学及力能学特征。结果表明,在相仿的C型弯曲变形下,逃逸型C型起动与非逃逸型C型起动相比,前者推力较大,导致其在前进方向上的质心速率较大;前者侧向力较大,导致其转弯半径较小;前者转矩较大,但因在起动中后期的S型摆动产生了反向转矩,最终导致转动角度小于后者。通过对两种典型C型起动的实验研究发现,斑马鱼会因不同的运动需求而表现出不同的机动性能。     

斑马鱼直线加速游动试验研究

海洋生物低噪音、高速、髙效游动能力是任何人造水下航行器所无法比拟的. 借助时间解析粒子图像测速技术对斑马鱼直线加速游动过程进行精细流场测量, 对其运动学行为特性和动力学机理进行分析. 同时应用双正交分解对涡量场进行模态分解, 获取流场的时间演化和空间分布特征. 从流动机理的角度探究斑马鱼游动过程的流动结构特征及旋涡动态演化特性. 试验结果表明: 流动可视化展现了整体涡流尾迹的结构分布,方便探究运动特性与旋涡尾迹之间的耦合关系. 斑马鱼从运动开始时体干保持着鲹科式的运动规律, 游动时的动能主要由前几次大幅的摆尾过程提供, 后续的摆尾主要调整方向及姿态. 两次不同方向的摆尾动作会形成一对方向相反的旋涡, 并在时序下旋涡逐渐脱落. 同时尾流的涡量变化在一定程度上反映鱼体的游向的变化. 基于双正交分解分解后的时间演化结果验证本次试验在时间上涡量场具有合理的恒定幅度, 空间分布表明低阶空间模态表征斑马鱼游动的主要涡流动结构, 高阶空间模态表征涡流动的细节结构. 研究鱼类游动时的摆尾推进机制与动力学特性能够为高效率的仿鱼类推进装置设计提供一定科学参考.      

斑马鱼S型起动运动学研究

快速起动是鱼类重要的一种机动能力,有助于鱼类的逃逸和捕食。快速起动通常分为C形起动和S形起动两种模式。本文利用数字式高速摄像机定量地研究了斑马鱼从低速巡游状态做出捕食反应的运动过程。通过分析斑马鱼的运动图像,发现S形起动过程大体可以分解为三个阶段:第一阶段,斑马鱼的头部和尾部都迅速向相同的一个体侧方向转动,整个身体近似弯曲反写的S型。第二阶段,斑马鱼的头部转向捕食方向,尾部摆动1~2个周期,整个身体近似成S型。第三阶段整个鱼体逐渐恢复平直形态,其前端2/3的部分不再摆动,维持一种类似在水中滑翔的游动姿态。本文定量分析了各个阶段鱼体躯干曲线的形状,给出了鱼体的速度分布,并定性地解释了S形起动的力学机理。     

鲫鱼皮肤和肌肉的力学性能研究

鱼在水中游动时,参与鱼体弯曲变形的组织和器官与水媒介相互作用,形成了不同的游动模式和变形方式。为了更好地理解鱼体变形机制并为今后的流固耦合计算提供基础实验数据,本文采用万能试验机进行单轴拉伸试验,对鲫鱼皮肤和肌肉等生物材料的力学性能进行研究。通过破坏实验的方式确定其杨氏模量,通过松弛实验的方式确定其归一化松弛函数。针对皮肤和肌肉的生物材料粘弹性性质,给出本构方程。通过简化为标准线性固体模型进行讨论,得到的结论是:鲫鱼游动过程中以很小的能量损耗为代价,增加了其有效刚度。     

基于约束关系的下颈椎运动测量新方法

下颈椎各个关节准确稳定的运动参数是医生对颈椎病进行诊断的重要依据。本文提出了一种满足颈椎耦合约束关系,基于双目视觉原理的下颈椎运动参数测量方法。首先,根据下颈椎围绕瞬时旋转中心运动的特点和下颈椎耦合运动的规律,建立了满足耦合约束关系的下颈椎运动学模型;其次,在下颈椎解剖学特征位置(棘突和横突)上布置标志点,借助多台摄像机,基于双目视觉原理和三维数字图像相关(3D-DIC)技术,直接测量不考虑耦合约束关系的下颈椎前屈、后伸、左旋、右旋及侧屈等运动时的角度;最后,利用考虑耦合约束关系的运动学模型对下颈椎运动角度变化曲线进行了校正。波动范围的分析结果表明测量的稳定性得到了提高。利用本方法实现了对下颈椎关节运动角度的实时测量,提供了一种对下颈椎关节运动进行稳定测量的有效手段。     

描述鱼鳍材料松弛特性的分数Zener模型

鱼鳍在游动中起到了推进和控制的作用, 研究鱼鳍的力学性质对研究鱼类游动中高效率的来源具有重要意义. 本文对鲫鱼尾鳍鳍条进行了松弛实验, 松弛时间为300\,s,力随时间表现出较明显的衰减, 表明鱼鳍具有黏弹性性质. 采用分数Zener模型拟合实验数据, 并将拟合结果与3参数和5参数线性模型拟合结果比较, 发现3参数线性模型拟合效果较差, 分数Zener模型和5参数线性模型都较好地拟合了松弛曲线, 但分数Zener模型具有使用参数更少的优点.      

昆虫飞行参数测量实验研究进展

在昆虫飞行的实验研究中,可采用活体实验、模型实验和活体模型结合三种方法。活体实验可以客观反映自然界中昆虫的飞行规律,获得真实的实验数据,但可重复性差。模型实验作为机械装置可以重复进行试验,详细描述流场结构并定量各种参数大小,但与真实飞行存在一定差距。单独使用这两种中的任一方法均可对一些现象给出了解释。二者相结合的方法更易于准确描述昆虫的运动特征,通过对比模型与活体的结果来提出机理,尽管需要的实验周期较长,但结论往往更接近真实状态,基于该方法科学家们已提出了几种飞行机理。本文结合近几年文献报道,综述了昆虫飞行参数测量方法,并对以上几种方法在研究昆虫飞行机理中的作用进行了对比分析,认为模型和活体结合的研究方法更容易为一些飞行现象提出合理解释。     

鳗鲡模式游动的鱼体变形曲率波的传播特性研究

将鳗鲡模式游动的七鳃鳗简化成材料性质均匀的变截面黏弹性梁,通过数值方法求解鱼体在主动弯矩波(作为激励的驱动波)的驱动下匀速游动时身体变形曲率波的传播特性.结果表明,当主动弯矩的驱动频率高于鱼体结构基频时,可以观察到曲率波相对于驱动波存在相位滞后,且越靠近尾部滞后现象越明显,这意味着曲率波的波速小于驱动波的波速,也间接地验证了前人的实验结果.通过参数研究发现,鱼体变形曲率波与驱动波的波速比与表征流体黏性作用的雷诺数无关,而与表征驱动波和鱼体材料属性的无量纲激励频率、激励波长及鱼体黏性系数有关.对于鳗鲡模式游动的鱼类,曲率波与驱动波的波速比随着无量纲激励频率和波长的增大而降低,随着鱼体黏性系数的增大而增大.进一步研究发现,通过小扰动分析得到的组合相似性参数Π可以统一描述波速比与激励参数、材料参数之间的关系.     

A novel 3D geometrical reconstruction method for aluminum foams and FEM modeling of the material response

A novel method for modeling cellular materials is proposed based on MATLAB image processing and synchrotron X-ray computed tomography scanning to obtain an accurate calculation result of aluminum foam based on finite element model. The maximum entropy algorithm is employed to obtain the binarization image, and the median filtering algorithm is used to reduce the noise after binarization. The external contour and internal pores boundary is extracted by the “edge” function in MATLAB, and the geometrical model is reconstructed. A two-step mesh algorithm is adopted to mesh the reconstructed geometrical model. Accordingly, the finite element model of aluminum foam is established by the proposed method based on reconstruction geometrical model. The compression behavior of aluminum foam is obtained at 25°C, 100°C, 200°C by ABAQUS, and good agreements with experiments are achieved by applying the present reconstruction algorithm and modeling method.     

磁悬浮挠性转子系统模型复合辨识方法

针对磁悬浮挠性转子的纯有限元分析模型精度低的问题,提出一种磁悬浮挠性转子系统模型复合辨识方法。该方法首先采用有限元方法把磁悬浮挠性转子划分为多个Timoshenko梁单元,建立磁悬浮挠性转子系统模型,并对其挠性临界频率、阻尼、刚度和振型等关键参数进行分析,进而得到磁悬浮挠性转子的等效降阶数学模型;然后采用鲁棒自适应方法分析磁悬浮挠性转子系统的动态特性;最后,采用变LEVY方法从动态特性分析数据中对磁悬浮挠性转子进行系统辨识,校正有限元分析得到的降阶数学模型。实验结果表明,本方法可以得到磁悬浮挠性转子较为准确的系统模型。     

Energy efficiency in friction-based locomotion mechanisms for soft and hard robots: slower can be faster

Many recent designs of soft robots and nano-robots feature locomotion mechanisms that cleverly exploit slipping and sticking phenomena. These mechanisms have many features in common with peristaltic locomotion found in the animal world. The purpose of the present paper is to examine the energy efficiency of a locomotion mechanism that exploits friction. With the help of a model that captures most of the salient features of locomotion, we show how locomotion featuring stick-slip friction is more efficient than a counterpart that only features slipping. Our analysis also provides a framework to establish how optimal locomotion mechanisms can be selected.     

Attenuation analysis of hydraulic transients with laminar-turbulent flow alternations

An improved compound mathematical model is established to simulate the attenuation of hydraulic transients with laminar-turbulent alternations,which usually occur when the pipeline flow velocity fluctuates near the critical velocity.The laminar friction resistance and the turbulent friction resistance are considered respectively in this model by applying different resistance schemes to the characteristics method of fluid transient analysis.The hydraulic transients of the valve closing process are simulated using the model.A more reasonable attenuation of hydraulic transients is obtained.The accurate attenuation is more distinct than that obtained from the traditional mathematical model.The research shows that the hydraulic transient is a type of energy waves,and its attenuation is caused by the friction resistance.The laminar friction resistance is more important than the turbulent friction resistance if the flow velocity is smaller than the critical velocity.Otherwise the turbulent friction resistance is more important.The laminar friction resistance is important in the attenuation of hydraulic transients for the closing process.Thus,it is significant to consider the different resistances separately to obtain more accurate attenuation of hydraulic transients.     

Mathematical model of inchworm locomotion

Inchworms are caterpillars. Their locomotion, involving arching of much of the central portion of their body length, has not been studied as extensively as the peristaltic locomotion of worms or the crawling locomotion of many other caterpillars. A mathematical model is developed to describe the shapes and bending strains of typical inchworm motions. The inchworm is assumed to travel in a straight line on a rigid horizontal substrate. Two basic types of cycles are considered. In Case I, the inchworm body arches and then reverses that motion in becoming flat again. In Case II, the body arches, then cantilevers upward, and then falls down to a flat shape. A continuum model based on an elastica is adopted. The results may be useful in the development of soft robots exhibiting an inchworm mode of motion.     

空间结构支座摩擦力问题的研究

本文根据力学概念和库仑摩擦定律,建立了空间结构支座摩擦力问题的精确数学模型并提出了两种解法,即数学规划法和弹簧约束法;同时指出了考虑支座摩擦力作用的结构分析方法。算例表明本文的方法是很有效的。本文的研究成果已应用于实际工程的结构优化设计。     

变转速共轴旋翼载荷建模及实验验证

对共轴双旋翼无人飞行器操纵结构的简化,会引起旋翼载荷变化更加复杂。共轴双旋翼转速控制方法有助于飞行控制系统的实现,但是在飞行控制律设计时,需要透彻了解变转速旋翼的气动载荷变化,建立精准的旋翼载荷模型。本文深入分析了旋翼变转速情况下单旋翼系统和共轴双旋翼系统的旋翼入流分布,建立了单旋翼变转速旋翼载荷计算方法,提出了共轴双旋翼变转速旋翼载荷计算方法。明确了低雷诺数对微型旋翼飞行器的旋翼载荷计算影响,引入雷诺数修正系数完成对旋翼翼型升阻系数气动参数的修正和验证,提高了变转速共轴双旋翼载荷模型的计算精度。设计了一套变转速单旋翼系统和共轴双旋翼系统的旋翼载荷测量实验装置,通过实验测试完成了对共轴双旋翼载荷计算方法的验证,表明了所提出的变转速共轴双旋翼载荷模型和实验测试装置是可信的。     

A fluid–structure interaction solver for the study on a passively deformed fish fin with non-uniformly distributed stiffness

Research on fish locomotion has made extensive progress towards a better understanding of how fish control their flexible body and fin for propulsion and maneuvering. Although the biologically flexible fish fins are believed to be one of the most important features to achieve optimal swimming performance, due to the limitations of the existing numerical modeling tool, studies on a deformable fin with a non-uniformly distributed stiffness are rare. In this work, we present a fully coupled fluid–structure interaction solver which can cope with the dynamic interplay between flexible aquatic animal and the ambient medium. In this tool, the fluid is resolved by solving Navier–Stokes equations based on the finite volume method with a multi-block grid system. The solid dynamics is solved by a nonlinear finite element method. A sophisticated improved IQN-ILS coupling algorithm is employed to stabilize solution and accelerate convergence. To demonstrate the capability of the developed Fluid–Structure-Interaction solver, we investigated the effect of five different stiffness distributions on the propulsive performance of a caudal peduncle-fin model. It is shown that with a non-uniformly distributed stiffness along the surface of the caudal fin, we are able to replicate similar real fish fin deformation. Consistent with the experimental observations, our numerical results also indicate that the fin with a cupping stiffness profile generates the largest thrust and efficiency whereas a heterocercal flexible fin yields the least propulsion performance but has the best maneuverability.