基于智能驱动材料的水下仿生机器人发展综述

王延杰; 郝牧宇; 张 霖; 骆敏舟

doi:10.11993/j.issn.2096-3920.2019.02.002

基于智能驱动材料的水下仿生机器人发展综述

doi: 10.11993/j.issn.2096-3920.2019.02.002

王延杰^1,2,
郝牧宇¹,
张霖^1,2,
骆敏舟^1,2

1.
河海大学机电工程学院, 江苏常州, 213022
2.
河海大学江苏省特种机器人技术重点实验室, 江苏常州, 213022

基金项目: 国家自然科学基金青年项目(51505369); 国家自然科学基金重大研究计划(91748124); 江苏省重点研发计划(BE2016055); 江苏省特种机器人技术高校重点实验室开放基金项目(2017B21114); 常州市基础研究计划项目(CJ20179050)

详细信息

作者简介:
王延杰(1985-), 男, 副教授, 主要研究方向为智能材料与结构和软体机器人技术.

中图分类号: TP242; TB381
计量
- 文章访问数: 1360
- HTML全文浏览量: 170
- PDF下载量: 887
- 被引次数: 0
出版历程
- 收稿日期: 2018-09-30
- 修回日期: 2018-12-15
- 刊出日期: 2019-04-30

Progress of Biomimetic Underwater Robot Based on Intelligent Actuating Materials: a Review

1.
College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China
2.
Jiangsu Key Laboratory of Special Robotics Technology, Hohai University, Changzhou 213022, China

摘要

摘要: 经过漫长的自然选择, 水生生物已进化出独特的结构和运动模式, 在水下生存具有得天独厚的优势。研究水生生物的运动方式并加以模仿, 同时将智能驱动材料应用于水下仿生机器人的结构和运动设计是目前水下仿生机器人的研究热点之一。结合水生生物和智能驱动材料的优点, 使得采用智能驱动材料设计的水下仿生机器人更易小型化、机动性更高, 可进行连续柔性运动, 从而实现在水下的复杂动作, 相较传统驱动方式具有显著优势。文中介绍了几种典型水生生物的运动机理, 比较了4种典型智能材料性能指标及其优缺点, 在此基础上综述了现有3种模仿水生生物推进方式的采用智能驱动材料设计的水下仿生机器人及其结构主要特点, 并对其运动效率进行了分析和比较, 指出了未来水下仿生机器人的发展需要解决的一些关键问题。
- 水下仿生机器人 /
- 水生生物 /
- 运动机理 /
- 智能驱动材料
Abstract: It is one of the current research hotspots of biomimetic underwater robot to study and imitate the motion modes of aquatic animals and apply the intelligent actuating materials to the structure and motion design of a biomimetic underwater robot. Combined with the advantages of aquatic animals and intelligent actuating materials, the biomimetic underwater robot designed with intelligent actuating materials is easier to be miniaturized and higher maneuverability, so it can carry out continuous and flex-ible movement, and realize complex underwater motion. Compared with the traditional actuating mode, the biomimetic actuating mode has significant advantages. In this paper, the motion mechanisms of several typical aquatic animals are introduced. Com-parison of performance specifications, advantages and disadvantages of four typical intelligent materials. The existing biomimetic underwater robots that imitate the propulsion modes of aquatic animals and design with intelligent materials, and their structural features are summarized. The motion efficiency of these robots are analyzed and compared. As a result, some key problems that need to be solved in future development of the biomimetic underwater robots are pointed out.
- biomimetic underwater robot /
- aquatic animal /
- motion mechanism /
- intelligent actuating material

HTML全文

参考文献(35)

[1]	Ellerby D J. Encyclopedia of Fish Physiology\|\| Buoyancy, Locomotion, and Movment in Fishes\|Undulatory Swimming[J]. Encyclopedia of Fish Physiology, 2011: 547-554.
[2]	Alexander P. Robot Fish: Bio-inspired Fishlike Underwater Robots[J]. Underwater Technology, 2017, 34(3): 143-145.
[3]	Low K H. Current and Future Trends of Biologically Inspired Underwater Vehicles[C]//2011 Defense Science Research Conference and Expo(DSR). Singapore: IEEE, 2011: 1-8.
[4]	Trivedi D, Rahn C D, Kier W M, et al. Soft Robotics: Bi-ological Inspiration, State of the Art, and Future Research[J]. Applied Bionics and Biomechanics, 2008, 5(3): 99-117.
[5]	Trivedi D, Dienno D, Rahn C D. Optimal, Model-Based Design of Soft Robotic Manipulators[J]. Journal of Mechanical Design, 2007, 130(9): 801-809.
[6]	Carpi F, Bauer S, De Rossi D. Stretching Dielectric Elastomer Performance[J]. Science, 2010, 330(6012): 1759- 1761.
[7]	McHenry M J. Comparative Biomechanics: the Jellyfish Paradox Resolved[J]. Current Biology, 2007, 17(16): R632-R633.
[8]	McHenry M J, Jed J. The Ontogenetic Scaling of Hydro-dynamics and Swimming Performance in Jellyfish (Au-relia Aurita)[J]. Journal of Experimental Biology, 2003, 206(22): 4125-4137.
[9]	Bajcar T, Mala?i? V, Malej A, et al. Kinematic Properties of the Jellyfish Aurelia Sp[M]//Jellyfish Blooms: Causes, Consequences, and Recent Advances. Springer: Dor-drecht, 2008: 279-289.
[10]	Bartol I K, Patterson M R, Mann R. Swimming Mechanics and Behavior of the Shallow-water Brief Squid Lolli-guncula Brevis[J]. Journal of Experimental Biology, 2001, 204(21): 3655-3682.
[11]	Anderson E J, DeMont M E. The Mechanics of Locomotion in the Squid Loligo Pealei: Locomotory Function and Unsteady Hydrodynamics of the Jet and Intramantle Pressure[J]. Journal of Experimental Biology, 2000, 203(18): 2851-2863.
[12]	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.
[13]	Boileau R, Fan L, Moore T. Mechanization of Rajiform Swimming Motion: The Making of Robo Ray[R]. Van-couver: University of British Columbia, 2002.
[14]	Lauder G V. Fish Locomotion: Recent Advances and New Directions[J]. Annual Review of Marine Science, 2015, 7: 521-545.
[15]	Rosenberger L J. Pectoral Fin Locomotion in Batoid Fishes: Undulation versus Oscillation[J]. Journal of Experimental Biology, 2001, 204(2): 379-394.
[16]	Guo S, Shi L, Ye X, et al. A New Jellyfish Type of Underwater Microrobot[C]//2007 International Conference on Mechatronics and Automation. Harbin, China: IEEE, 2007: 509-514.
[17]	Villanueva A, Smith C, Priya S. A Biomimetic Robotic Jellyfish(Robojelly) Actuated by Shape Memory Alloy Composite Actuators[J]. Bioinspiration & Biomimetics, 2011, 6(3): 036004.
[18]	王扬威, 王振龙, 李健. 形状记忆合金丝驱动的仿生喷射推进器[J]. 哈尔滨工业大学学报, 2011, 43(9): 33-37. Wang Yang-wei, Wang Zhen-long, Li Jian. A Biomimetic Water-jetting Vehicle Actuated by Shape Memory Alloy Wires[J]. Journal of Harbin Institute of Technology, 2011, 43(9): 33-37.
[19]	Gao F, Wang Z, Wang Y, et al. A Prototype of a Biomimetic Mantle Jet Propeller Inspired by Cuttlefish Actuated by SMA Wires and a Theoretical Model for Its Jet Thrust[J]. Journal of Bionic Engineering, 2014, 11(3): 412-422.
[20]	Chen Z, Um T I, Bart-Smith H. A Novel Fabrication of Ionic Polymer-metal Composite Membrane Actuator Capable of 3-dimensional Kinematic Motions[J]. Sensors and Actuators A: Physical, 2011, 168(1): 131-139.
[21]	Li T, Li G, Liang Y, et al. Fast-moving Soft Electronic Fish[J]. Science Advances, 2017, 3(4): e1602045.
[22]	Rossi C, Colorado J, Coral W, et al. Bending Continuous Structures with SMAs: a Novel Robotic Fish Design[J]. Bioinspiration & Biomimetics, 2011, 6(4): 045005.
[23]	Kamamichi N, Yamakita M, Asaka K, et al. A Snake-like Swimming Robot Using IPMC Actuator/Sensor[C]// Proceedings 2006 IEEE International Conference on Ro-botics and Automation. Orlando, USA: IEEE, 2006: 1812-1817.
[24]	Palmre V, Hubbard J J, Fleming M, et al. An IPMC-enabled Bio-inspired Bending/twisting Fin for Underwater Applications[J]. Smart Materials and Structures, 2012, 22(1): 014003.
[25]	Tan X, Drew K, Usher N, et al. An Autonomous Robotic Fish for Mobile Sensing[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China: IEEE, 2006: 5424-5429.
[26]	郝丽娜, 徐夙, 刘斌. 基于 IPMC 驱动器的小型遥控机器鱼的研制[J]. 东北大学学报: 自然科学版, 2009, 30(6): 773-776. Hao Li-Na, Xu Su, Liu Bin. A Miniature Fish-like Robot with Infrared Remote Receiver and IPMC Actuator[J]. Journal of Northeastern University(Natural Science), 2009, 30(6): 773-776.
[27]	沈奇, 韩晨皓, 王田苗, 等. 基于IPMC仿生机器鱼推进效率实验研究[J]. 北京航空航天大学学报, 2014, 40(12): 1730-1735. Shen Qi, Han Chen-hao, Wang Tian-miao, et al. Experimental Investigation of Biomimetic Robotic Fish Actuated by IPMC[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1730-1735.
[28]	Wen L, Ren Z, Di S V, et al. Understanding Fish Linear Acceleration Using an Undulatory Biorobotic Model with Soft Fluidic Elastomer Actuated Morphing Median Fins[J]. Soft Robotics, 2018, 5(4): 375-388.
[29]	Trivedi D, Dienno D, Rahn C D. Optimal, Model-Based Design of Soft Robotic Manipulators[J]. Journal of Mechanical Design, 2007, 130(9): 801-809.
[30]	Katzschmann R K, Marchese A D, Rus D. Hydraulic Autonomous Soft Roboti Fish for 3D Swimming[M]// Experimental Robotics. Switzerland: Springer International Publishing, 2015: 405-420.
[31]	Byungkyu K, Sunghak L, Jong H, et al. Inchworm-like Microrobot for Capsule Endoscope[C]//2004 IEEE International Conference on Robotics and Biomimetics. Shenyang, China: IEEE, 2004: 458-463.
[32]	Raj A, Thakur A. Fish-inspired Robots: Design, Sensing, Actuation, and Autonomy—a Review of Research[J]. Bi-oinspiration & Biomimetics, 2016, 11(3): 031001.
[33]	Voisembert S, Mechbal N, Riwan A, et al. Design of a Novel Long-range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation[J]. Journal of Mechanisms and Robotics, 2013, 5(4): 045001.
[34]	Hunter I W, Lafontaine S. A Comparison of Muscle with Artificial Actuators[C]//Technical Digest IEEE Solid-State Sensor and Actuator Workshop. Hilton Head Island, USA IEEE, 1992: 178-185.
[35]	Bhandari B, Lee G Y, Ahn S H. A Review on IPMC Material as Actuators and Sensors: Fabrications, Characteristics and Applications[J]. International Journal of Precision Engineering and Manufacturing, 2012, 13(1): 141-163.