J4 ›› 2014, Vol. 11 ›› Issue (3): 412-422.doi: 10.1016/S1672-6529(14)60054-8
A Prototype of a Biomimetic Mantle Jet Propeller Inspired by CuttlefishActuated by SMA Wires and a Theoretical Model for Its Jet Thrust
Fei Gao, Zhenlong Wang, Yukui Wang, Yangwei Wang, Jian Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, Heilongjiang, P. R. China
A Prototype of a Biomimetic Mantle Jet Propeller Inspired by CuttlefishActuated by SMA Wires and a Theoretical Model for Its Jet Thrust
Fei Gao, Zhenlong Wang, Yukui Wang, Yangwei Wang, Jian Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, Heilongjiang, P. R. China
摘要：
The cuttlefish have higher swimming speed and more maneuverability than most of the fish mainly benefiting from their unique jet propulsion mechanism, which is realized by the contraction and expansion of their flexible mantle. However it is difficult to mimic this jet propulsion mechanism using conventional electro-mechanical structures. In this paper, the musculature of the cuttlefish mantle and how the mantle flexibly contracts and expands were analyzed first. Then the Shape Memory Al-loy(SMA) wires were chosen as the actuators and the soft silica gel was chosen as the body materials to develop a biomimetic mantle jet propeller. The SMA wires were embedded within the soft silica gel formed with cuttlefish mantle shape along the annular direction to mimic the circular muscles of cuttlefish mantle. The water was squeezed out the mantle cavity to form rear jets when the biomimetic mantle was contracted by SMA wires. A mechanical model and a thermal model were established to analyze the jet thrust and the jetting frequency. Theoretical analysis shows that the jet thrust is proportional to the square of the rate of change of SMA strain. Increasing the driving voltage can improve the rate of change of SMA strain, thus can improve both the jet thrust and the jetting frequency. However the jetting frequency is mainly restricted by the cooling of SMA wires. To maximize the jetting frequency, the optimal driving parameters for different driving voltage were calculated. The propulsion performance was tested and the results show that the jet thrust can increase with the driving voltage as predicted and the maximum average jet thrust is 0.14 N when the driving voltage is 25 V. The swimming test was carried out to verify the feasi-bility of the novel design. It is shown that the biomimetic jet propeller can swim with higher speed as the jet thrust and jetting frequency increase and the maximum speed can reach 8.76 cm•s−1 (0.35 BL•s−1) at a jetting frequency of 0.83 Hz.