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

Previous Articles    

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

RICH HTML

 11   

PDF (PC)

129

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"

1 曾妮, 杭观荣, 曹国辉, 等 . 仿生水下机器人研究现状及其发展趋势[J]. 机械工程师, 2006(4): 18⁃21.
Zeng Ni , Hang Guan⁃rong , Cao Guo⁃hui , et al . Present state and tendency of bionic underwater robot[J]. Mechanical Engineer, 2006(4): 18⁃21.
2 刘芳芳 . 基于柔性鳍波动的水下仿生系统推进性能研究[D]. 杭州: 浙江大学机械工程学院, 2012.
Liu fang⁃fang . Research on propulsion performances of flexible undulating fin based biomimetic system[D]. Hangzhou: School of Mechanical Engineering, Zhejiang University, 2012.
3 Sfakiotakis M , Lane D M , Davies J B C . Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Oceanic Engineering, 1999, 24(2): 237⁃252.
4 Triantafyllou G S , Triantafyllou M S , Grosenbaugh M A . Optimal thrust development in oscillating foils with application to fish propulsion[J]. Fluids Struct, 1993, 7(2): 205⁃224.
5 Triantafyllou G S , Triantafyllou M S . An efficient swimming machine[J]. Scientific American, 1995, 272(3): 64⁃70.
6 Yao⁃Tsu T W . Swimming of a waving plate[J]. Journal of Fluid Mechanics, 1961, 10(3): 321⁃344.
7 Chopra M G . Hydromechanics of lunate⁃tail swimming propulsion：part2[J]. Journal of Fluid Mechanics, 1974, 64(2): 375⁃392.
8 Chopra M G . Hydromechanics of lunate⁃tail swimming propulsion：part2[J]. Journal of Fluid Mechanics, 1977, 79(1): 49⁃69.
9 Lan C E . The unsteady quasi⁃vortex⁃lattice method with applications to animal propulsion[J]. Journal of Fluid Mechanics, 1979, 93(4): 747⁃765.
10 陈东辉, 刘伟, 吕建华, 等 . 基于虾夷扇贝体表结构的玉米茬根捡拾器仿生设计[J]. 吉林大学学报:工学版, 2017, 47(4): 1185⁃1193.
Chen dong⁃hui , Liu wei , jian⁃hua Lyu , et al . Bionic design of corn stucture collector based on surface structure of Patinopecten yessoensis [J]. Journal of Jilin University (Engineering and Technology Edition), 2017, 47(4): 1185⁃ 1193.
11 郑文伟, 吴克坚 . 机械原理[M]. 北京: 高等教育出版社, 2012.
[1] Na WU,Jian ZHUANG,Ke⁃song ZHANG,Hui⁃xin WANG,Yun⁃hai MA. Compression mechanical properties and fracture mechanism of Scapharca Subcrenata shell [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 897-902.
[2] XI Peng,CONG Qian,WANG Qing-bo,GUO Hua-xi. Wear test and anti-friction mechanism analysis of bionic stripe grinding roll [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1787-1792.
[3] GUO Hao-tian,XU Tao,LIANG Xiao,YU Zheng-lei,LIU Huan,MA Long. Optimization on thermal surface with rib turbulator inspired by turbulence of alopias' gill in simplified gas turbine transition piece [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1793-1798.
[4] QIAN Zhi-hui, ZHOU Liang, REN Lei, REN Lu-quan. Completely passive walking machine with bionic subtalar joint and matatarsal phalangeal joint [J]. 吉林大学学报(工学版), 2018, 48(1): 205-211.
[5] GE Chang-jiang, YE Hui, HU Xing-jun, YU Zheng-lei. Prediction and control of trailing edge noise on owl wings [J]. 吉林大学学报(工学版), 2016, 46(6): 1981-1986.
[6] LI Meng, SU Yi-nao, SUN You-hong, GAO Ke. High matrix bionic abnormal shape impregnated diamond bit [J]. 吉林大学学报(工学版), 2016, 46(5): 1540-1545.
[7] LIANG Yun-hong, REN Lu-quan. Preliminary study of habitat and its bionics [J]. 吉林大学学报(工学版), 2016, 46(5): 1746-1756.
[8] LIANG Yun-hong, REN Lu-quan. Preliminary study of bionics in human life [J]. 吉林大学学报(工学版), 2016, 46(4): 1373-1384.
[9] ZOU Meng, YU Yong-jun, ZHANG Rong-rong, WEI Can-gang, WANG Hui-xia. Simulation analysis of energy-absorption properties of thin-wall tube based on horn structure [J]. 吉林大学学报(工学版), 2015, 45(6): 1863-1868.
[10] QIAN Zhi-hui, MIAO Huai-bin, REN Lei, REN Lu-quan. Lower limb joint angles of German shepherd dog during foot-ground contact in different gait patterns [J]. 吉林大学学报(工学版), 2015, 45(6): 1857-1862.
[11] YANG Zhuo-juan, WANG Qing-cheng, GAO Ying, MEN Yu-zhuo, YANG Xiao-dong. Effect of different solutions on the wettability of lotus leaves [J]. 吉林大学学报(工学版), 2015, 45(6): 1869-1873.
[12] TIAN Wei-jun, WANG Ji-yue1, LI Ming1, CHEN Si-yuan, LIU Fang-yuan, CONG Qian. Bionic design of the small blade of horizontal axis wind turbines [J]. 吉林大学学报(工学版), 2015, 45(5): 1495-1501.
[13] KE Jun, CHENG Zhi-yong, SHI Wen-ku, SHI Teng, ZHANG Yi-jing, GUO Fu-xiang. Modal analysis and structure optimization of bus floor based on floor vibration control [J]. 吉林大学学报(工学版), 2015, 45(3): 719-725.
[14] TIAN Gui-zhong, LIU Zhi-ling, ZHOU Hong-gen, SONG Jiang-chao, ZHU Tao. Quasi-static axial tensile mechanical characteristics of silkworm's anterior silk gland [J]. 吉林大学学报(工学版), 2015, 45(3): 872-877.
[15] LI Fang, ZHAO Gang, LIU Wei-xin, SUN Zhuang-zhi. Numerical simulation of drag reduction characteristics of a bionic jet surface with multiple holes [J]. 吉林大学学报(工学版), 2014, 44(6): 1698-1703.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd