单磁驱动多自由度软体机器鱼设计与动力学建模

doi:10.3901/JME.260239

摘要/Abstract

摘要： 水下软体机器人发展迅速、应用广泛，在海洋勘探、军事应用以及工业生产中具有重要意义。然而，现有水下软体机器人大多采用单驱动器实现单自由度运动，或通过多个驱动器控制多自由度运动，一定程度上增加了系统的复杂性。基于此，提出一种基于单磁驱动的可实现水下多自由度运动的软体机器人，该机器人由磁铁、线圈和PET背鳍组成磁驱动器，电源、控制和驱动系统集成在软硅胶鱼体中以应对复杂环境。对磁驱动器施加特定频率的正负电流，驱动背鳍摆动为机器鱼提供下潜推力，利用机器鱼横摇运动带动胸鳍硅胶薄膜产生周期性形变，扰动水流实现前进，通过改变背鳍驱动电压占空比实现转向。基于拉格朗日法建立机器鱼横摇运动方程，利用机械波函数模拟胸鳍实际运动轨迹，并结合牛顿-欧拉法与Morrison方程建立机器鱼下潜运动与前进运动的动力学模型。通过试验数据确定了模型参数，并证实所建模型的准确性。开展样机前进、浮沉、转向等试验测试，证实其水下多自由度运动特性，其在水中前进速度可达0.77 BL/s，下潜速度可达0.26 BL/s，转弯半径最小为1.30 BL，并通过2.7 ℃低温试验证实其具备抵抗低温环境的能力。该机器鱼可拓展应用于多种柔性智能装备中，为海洋探索领域的软体机器人设计提供新思路。

关键词: 软体机器鱼, 磁驱动, 多自由度, 动力学建模

Abstract: The rapid development and widespread application of underwater soft robots are of significant importance for fields such as ocean exploration, military applications, and industrial production. However, most existing underwater soft robots rely on single actuators for single-degree-of-freedom (SDOF) motion or multiple actuators for multi-degree-of-freedom (MDOF) motion, increasing system complexity. In response, a novel soft robot fish capable of MDOF underwater motion and driven by a single magnetic actuator is presented. The magnetic actuator consists of a magnet, coil, and PET dorsal fin, while the power supply, control, and actuation systems are integrated within a soft silicone fish body to withstand harsh environments. By applying positive and negative direct currents at specific frequencies, the actuator drives the dorsal fin to provide thrust for diving. The rolling motion of the fish induces periodic deformation of the pectoral silicone fins, disturbing the water flow to propel the fish forward. Steering is achieved by adjusting the duty cycle of the dorsal fin’s driving voltage. Based on the Lagrange method, the roll motion equation of a robotic fish is established. The actual motion trajectory of the pectoral fins is simulated using a mechanical wave function. Furthermore, the dynamic models for the diving and forward motions of the robotic fish are developed by integrating the Newton-Euler formulation with the Morrison equation. Experimental data are employed to determine model parameters and validate the accuracy of the proposed models. A series of experiments—including tests on forward swimming, diving, and turning—demonstrates the fish’s MDOF underwater performance. The robotic fish achieves a forward swimming speed of 0.77 BL/s, a diving speed of 0.26 BL/s, and a minimum turning radius of 1.30 BL. Additionally, it withstands low temperatures, confirmed through tests at 2.7 ℃. This robotic fish design holds potential for flexible intelligent devices and provides new insights into soft robot design for ocean exploration.

Key words: soft robotic fish, magnetic actuator, multi-degree of freedom, dynamic modeling

中图分类号:

TP242

郭世航, 王神龙, 侯锦辉, 李永歌. 单磁驱动多自由度软体机器鱼设计与动力学建模[J]. 机械工程学报, 2026, 62(5): 215-229.

GUO Shihang, WANG Shenlong, HOU Jinhui, LI Yongge. Design and Dynamic Modeling of a Multi-DOF Soft Robotic Fish with a Single Magnetic Actuator[J]. Journal of Mechanical Engineering, 2026, 62(5): 215-229.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260239

http://www.cjmenet.com.cn/CN/Y2026/V62/I5/215

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