Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (4): 1246-1257.doi: 10.13229/j.cnki.jdxbgxb20180180

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Biomimetic design of multi⁃link fishbone based on crescent′s fishtail propulsion theory

Dong⁃liang CHEN1(),Rui ZANG1,Peng DUAN1,Wei⁃peng ZHAO1,Xu⁃tao WENG1,Yang SUN1,Yi⁃peng TANG2   

  1. 1. College of Mechanical and Electrical Engineering, Harbin Engineering University，Harbin 150001, China
    2. College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
  • Received:2018-03-04 Online:2019-07-01 Published:2019-07-16

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Abstract:

Based on the theory of crescent?tail propulsion, a new type of bionic multi?link fishbone that conforms to the body and caudal fin (BCF) propulsion model is designed. First, the main design parameters, which influence the fish's propulsion are determined, including the swing angle of the body, the swing angle of caudal vertebra and the swing angle of tail. The skipjack, which has smaller body size among Tuna bream, is taken as the prototype of multi?link fishbone. Second, the fitting function of multi-link fishbone is obtained through reverse engineering technology. Third, the fitting function is used as the boundary condition of the design of fishbone structure. Finally, combined with the design parameters, the six?part connecting rod system, which includes the caudal vertebra, the caudal fin, the torso drive and the caudal vertebra, is designed by the inverse kinematics principle of the body. The feasibility of the mechanism is simulated by ADAMS software. The prototype experiment is carried out and the data obtained are analyzed. Experimental results show that the structure of multi?link fishbone can carry out the fish propulsion.

Key words: engineering bionics, bionic fish bone, inverse kinematics analysis, structural optimization, bionics design, bionics simulation

CLC Number: 

  • TB17

Fig.1

Angle of attack"

Fig.2

Contour fitting curve of fish body"

Fig.3

Schematic diagram of overall size and motion"

Fig.4

Swimming process of fish body"

Fig.5

"

Fig.6

Drive connecting rod system"

Fig.7

Whole structure of connecting rod of body"

Fig.8

Whole structure of connecting rod of body"

Fig.9

Relation diagram between L 4.2 and L 1.2 "

Fig.11

Whole structure of connecting rod of caudal vertebra"

Fig.12

Relation diagram between L 5.2 and L 2.2 "

Fig.13

Whole structure of connecting rod of caudal vertebra"

Fig.14

"

Fig.15

Whole structure of connecting rod of tail"

Fig.16

Relation diagram between L6.2 and L3.2 "

Fig.17

Structure of biomimetic fishbone"

Table 1

Length of each rod"

躯椎连杆 L 1=63 L 1.1=65.5 L 1.2=10 L 1.3=18
尾椎连杆 L 2=63 L 2.1=93 L 2.2=20 L 2.3=14
尾鳍连杆 L 3=50 L 3.1=59.7 L 3.2=20 L 3.3=14
躯椎驱动连杆 L 4.1=6.2 L 4.2=20.6
尾椎驱动连杆 L 5.1=7 L 5.2=15.9
尾鳍驱动连杆 L 6.1=9 L 6.2=18.3

Fig.18

Fish bone simulation model"

Fig.19

Simulation result of ? 1 , ? 2 and θ "

Fig.20

"

Fig.21

"

Fig.22

Relationship between speed of motor and speed of travel"

Fig.23

Relationship between wobble frequency of fish tail and Strouhal number"

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