基于EAP材料驱动的仿生鱼尾鳍设计与仿真

王思蛟; 张豪毅; 陈彦霖; 曹凯明

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

基于EAP材料驱动的仿生鱼尾鳍设计与仿真

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, 主要研究方向为智能电介质材料.

中图分类号: TJ630; U663.5
计量
- 文章访问数: 460
- HTML全文浏览量: 280
- PDF下载量: 168
- 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 Biomimetic Fish Caudal FinDriven by EAP Materials

1.
Electromechanical Engineering College, Xi’an Technological University, Xi’an 710021, China
2.
Shandong North Optical Electronic Co. Ltd, Tai’an 27100, China

摘要

摘要: 在海洋保护与探测领域不断发展的背景下, 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, 柔性材料凭借适配性强、安全性高及灵活性足的优势, 逐渐成为水下仿生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、机电耦合效率高的材料优势, 结合弹簧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周期性变形过程, 设计了一种圆柱形仿生尾鳍驱动装置, 可实现尾鳍肌肉的连续顺应性变化。基于流体力学理论系统分析尾鳍运动规律与推进力的耦合机理, 构建鳍条摆动瞬时力学模型, 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, 完成模型有效性验证, 为新型仿生鱼的设计开发提供理论支撑与实验依据。
- 仿生鱼 /
- 尾鳍 /
- 电活性聚合物 /
- 身体-尾鳍推进模式
Abstract: With the continuous development of marine conservation and exploration, traditional underwater actuation devices have inherent drawbacks such as complicated structures and low motion efficiency. Flexible materials have gradually become a research focus in the field of underwater biomimetic actuation due to their advantages of strong adaptability, high safety, and sufficient flexibility. Relying on the material advantages of high energy density and high electromechanical coupling efficiency of electroactive polymer(EAP), and combining the flexural deformation and elastic recovery effects of a spring, this paper designed a cylindrical biomimetic caudal fin actuator by simulating the periodic deformation process of contraction and relaxation of the body-caudal fin(BCF) propulsion mode, which could achieve the continuous compliant changes of the caudal fin muscle. Based on hydrodynamic theory, this study systematically analyzed the coupling mechanism between the movement law of the caudal fin and the propulsion force, constructed an instantaneous mechanical model of fin ray oscillation, and integrated experimental data for solution. Furthermore, this study established a three-dimensional numerical simulation model using Fluent software and verified the effectiveness of the model through the comparative analysis between the dynamic mesh calculation results and the mechanical model prediction results. This study provides theoretical support and experimental basis for the design and development of new biomimetic fish.
- biomimetic fish /
- caudal fin /
- electroactive polymer /
- body-caudal fin propulsion mode

HTML全文

图 1 圆柱形EAP驱动器简化模型

Figure 1. Simplified model of cylindrical EAP actuator

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图 2 圆柱形EAP驱动器简化模型

Figure 2. Simplified model of cylindrical EAP actuator

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图 3 尾鳍几何设计模型

Figure 3. Geometric model of caudal fin

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图 4 EAP驱动器完整设计结构

Figure 4. Overall design structure of EAP actuator

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图 5 圆柱形EAP驱动器制作流程

Figure 5. Fabrication process of cylindrical EAP actuator

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图 6 圆柱形EAP驱动器

Figure 6. Cylindrical actuator of EAP

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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 biomimetic caudal fin

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图 9 鱼尾弯曲变形几何结构图

Figure 9. Geometric structure diagram of caudal fin bending deformation

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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. Average thrust of caudal fin under 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. CFD simulation curve of propulsive force for caudal fin at 6 kV and 3 Hz

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图 13 鱼尾单周期内压强云图

Figure 13. Pressure contour nephogram of bionic caudal fin in one motion cycle

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表 1 弹簧规格参数

Table 1. Spring specification parameter

型号线径/mm 外径/mm 长度/mm

1 1.0 12 120
2 1.2 22 120
3 1.5 22 150
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

型号驱动力/N 弯曲角度/(°) 击穿电压/kV

1 0.38 44 6.5
2 0.44 30 6.5
3 0.66 36 6.5
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/kV 右侧通电/kV 弯曲角度/(°) 输出应力/N

左 0 6 42 0.82

右 6 0 43 0.83

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