基于EAP材料驱动的机械仿生鱼尾设计与仿真

王思蛟; 张豪毅; 陈彦霖; 曹凯明

doi:10.11993/j.issn.2096-3920.2025-0164

基于EAP材料驱动的机械仿生鱼尾设计与仿真

doi: 10.11993/j.issn.2096-3920.2025-0164

1.
西安工业大学机电工程学院, 陕西西安 710021
2.
山东北方光学电子有限公司, 山东泰安 271000

基金项目: 陕西省科技厅青年基金(K20210091).

详细信息

通讯作者:
王思蛟(1986-), 女, 博士, 讲师, 研究方向智能电介质材料.

中图分类号: TP242.2;
计量
- 文章访问数: 10
- HTML全文浏览量: 4
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2025-12-09
- 修回日期: 2026-01-07
- 录用日期: 2026-01-19
- 网络出版日期: 2026-03-30

Design and simulation of mechanical biomimetic fish tail driven by EAP material

1.
Xi'an Technological University Electromechanical Engineering college, Shanxi Xi’an 710021, China
2.
Shandong Northern Optical and Electronic, Shandong Tai'an 27100, China

摘要

摘要: 在海洋保护与探索事业不断推进的背景下, 传统水下驱动装置存在结构复杂、运动效率偏低等固有缺陷, 而柔性材料凭借适配性强、安全性高及灵活性足的优势, 逐渐成为水下驱动领域的研究热点。文中依托电活性聚合物(EAP)能量密度高、机电耦合效率高的核心特性, 结合弹簧的挠曲变形与弹性恢复作用, 模拟鱼体-尾鳍(BCF)推进模式的收缩与放松动态变形过程, 提出一种新型仿生尾鳍的驱动装置, 并实现尾鳍肌肉的连续的顺应性变化。基于流体力学理论, 系统分析尾鳍运动学与推进力之间的耦合作用机制, 构建鱼类鳍条摆动的瞬时力学模型, 并融入实验数据进行求解。利用Fluent软件建立三维数值仿真模型, 通过动网格计算结果与力学模型预测结果的对比分析, 完成模型的有效性验证, 为新型仿生驱动机械鱼的设计开发提供了可靠的理论支撑与实验依据。
- 仿生鱼尾 /
- 电活性聚合物驱动 /
- Fluent 仿真 /
- 鱼类体-尾鳍推进模式
Abstract: Against the backdrop of advancing marine conservation and exploration, traditional underwater propulsion systems are often hampered by inherent drawbacks such as structural complexity and low motion efficiency. In contrast, flexible materials have emerged as a research focus in underwater actuation due to their superior adaptability, high safety, and remarkable flexibility. Leveraging the favorable core properties of Electroactive Polymer (EAP), namely its high energy density and efficient electromechanical coupling, this study introduces a novel biomimetic caudal fin actuator. This design incorporates a spring element to harness flexural deformation and elastic recovery, effectively simulating the cyclic contraction and relaxation dynamics characteristic of the Body and/or Caudal Fin (BCF) propulsion mode in fish, thereby achieving continuous, compliant changes akin to tail musculature. Based on hydrodynamic theory, the coupled interaction mechanism between fin kinematics and thrust generation is systematically analyzed. An instantaneous mechanical model for fin-ray oscillation is developed and solved by incorporating experimental data. A three-dimensional numerical simulation model is established using Fluent software. The validity of the proposed mechanical model is confirmed through comparative analysis between the computational results from dynamic meshing and the model's predictions. This work provides reliable theoretical support and experimental evidence for the design and development of new biomimetic robotic fish driven by this innovative actuator.
- Bionic fish tail /
- EAPs actuator /
- fluent simulation /
- BCF advancement model.

HTML全文

图 1 圆柱形EAP驱动器简化模型

Figure 1. Simplified model of cylindrical EAP driver

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图 2 圆柱形EAP驱动器简化模型

Figure 2. Simplified model of cylindrical EAP driver

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图 3 尾鳍几何设计模型

Figure 3. Tail fin geometric model

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图 4 EAP机构完整设计

Figure 4. EAP mechanism complete design

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图 5 圆柱形EAP驱动器制作

Figure 5. Fabrication of cylindrical EAP actuator

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图 6 圆柱形EAP驱动器

Figure 6. Rolling EAP driver effect

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图 7 BCF仿生驱动运动简图

Figure 7. Schematic of BCF biomimetic propulsion motion

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图 8 仿生尾鳍受力运动简图

Figure 8. Force analysis diagram of the bionic caudal fin

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图 9 鱼尾弯曲变形几何结构图

Figure 9. The bending deformation indicates the geometric structure diagram

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图 10 流体域及网格划分

Figure 10. Fluid domain and meshing

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图 11 不同驱动电压和频率下鱼尾平均推进力

Figure 11. Fishtail average propulsion at different driving voltages and frequencies

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图 12 6 kV、3 Hz电压条件下鱼尾CFD仿真推进力曲线

Figure 12. Fishtail CFD simulation of propulsion curve at 6 kV and 3 Hz voltage

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图 13 鱼尾单周期内压强云图

Figure 13. Cloud image of pressure changes in the fish tail over a period

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表 1 弹簧规格参数

Table 1. Spring specification parameter

弹簧型号线径/mm 外径/mm 长度/mm

型号1 1 12 120
型号2 1.2 22 120
型号3 1.5 22 150
型号4 1.8 22 180

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表 2 4种不同弹簧型号下平均值

Table 2. Average values of springs under different processes for four models

弹簧型号驱动力/N 弯曲角度/° 击穿电压/kV

型号1 0.38 44 6.5
型号2 0.44 30 6.5
型号3 0.66 36 6.5
型号4 0.76 40 6.0

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表 3 EAP致动器的性能测试及功能检测

Table 3. Performance test and function test of EAP actuator

弯曲方向左侧通电/V 右侧通电/V 角度/(°) 应力/N

左 0 1 42° 0.82

右 1 0 43° 0.83

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