仿海马外骨骼六边形结构设计及其低频隔振特性

doi:10.3901/JME.260096

机械工程学报 ›› 2026, Vol. 62 ›› Issue (3): 435-445.doi: 10.3901/JME.260096

• 机械动力学 • 上一篇

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仿海马外骨骼六边形结构设计及其低频隔振特性

王尚文¹, 凌鹏¹, 马洪业¹, 武传宇^1,2, 严博¹

1. 浙江理工大学机械工程学院杭州 310018;
2. 浙江海洋大学舟山 316022

修回日期:2025-03-12 接受日期:2025-08-21 发布日期:2026-03-25
作者简介:王尚文,男,1998年出生,博士研究生。主要研究方向为仿生隔振、机器人动力学。E-mail:2024010501007@mails.zstu.edu.cn
凌鹏,男,1992年出生,博士研究生。主要研究方向为仿生隔振、非线性振动与控制。E-mail:202110601010@mails.zstu.edu.cn
马洪业,男,1994年出生,博士,副教授。主要研究方向为装备的动力学与控制。E-mail:mahongye@zstu.edu.cn
武传宇,男,1976年出生,博士,教授,博士研究生导师。主要研究方向为农业机器人、机械动力学与控制。E-mail:phdapple@mail.xjtu.edu.cn
严博(通信作者),男,1986年出生,博士,教授,博士研究生导师。主要研究方向为高端装备动力学设计与振动控制。E-mail:yanbo@zstu.edu.cn

Design and Low-frequency Vibration Isolation Characteristics of Seahorse Exoskeleton Hexagonal Structures

WANG Shangwen¹, LING Peng¹, MA Hongye¹, WU Chuanyu^1,2, YAN Bo¹

1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018;
2. Zhejiang Ocean University, Zhoushan 316022

Revised:2025-03-12 Accepted:2025-08-21 Published:2026-03-25
Supported by:
国家自然科学基金资助项目(52422504，U2541231，52175125，52405138)。

摘要/Abstract

摘要： 随着航天装备的大型化与轻质化，在复杂激励下诱发的低频振动已逐步成为影响其精度、稳定性与可靠性等指标的关键所在。受海马外骨骼在强烈外部冲击下能够有效保护其脊椎的生物力学原理启发，设计了一种仿海马外骨骼的六边形隔振结构。建立其动力学理论模型，系统研究了结构参数对仿海马外骨骼六边形结构静态刚度和承载能力的影响规律。基于拉格朗日方程建立了系统的动力学方程，基于谐波平衡法获取了近似传递率，研究了结构参数对隔振结构低频隔振性能的影响规律。设计并搭建了实验系统，验证了仿海马外骨骼六边形隔振结构动力学模型及其低频隔振性能。结果表明，仿海马外骨骼六边形隔振结构具有较大的准零刚度工作区间，通过结构参数调节可以获得1.9 Hz的峰值频率，在低频段具有较好的隔振效果。本研究对于仿海马外骨骼隔振结构的设计与研制具有一定的指导意义。

关键词: 仿生隔振, 准零刚度, 非线性振动, 低频隔振

Abstract: With the large-scale and lightweight trend of aerospace equipment, low-frequency vibrations induced by complex excitations have become a critical factor affecting accuracy, stability, and reliability. Inspired by the biomechanical principle of seahorse exoskeleton has the ability of protecting its vertebrae from injury under strong external impacts, a hexagonal vibration isolation structure mimicking the seahorse exoskeleton is proposed. The dynamic theoretical model is established, and the effects of structural parameters on the static stiffness and loading capacity of the seahorse exoskeleton inspired hexagonal structure are investigated. The dynamic equations are established based on the Lagrange formulation, the approximate transmissibility is obtained with the harmonic balance method. The effects of the structural parameters on the low-frequency vibration isolation performance are evaluated. An experimental system was built to validate the dynamic model of the seahorse exoskeleton hexagonal vibration isolation structure and its low-frequency vibration isolation performance. The results show that the seahorse exoskeleton hexagonal vibration isolation structure has a large quasi-zero stiffness working range, and the peak frequency of 1.9 Hz can be obtained by adjusting the structural parameters, and it has a better vibration isolation effect in the low-frequency band. This research offers theoretical and experimental guidance for the design and development of seahorse-inspired vibration isolation structures.

Key words: bio-inspired vibration isolation, quasi-zero stiffness, nonlinear vibration, low-frequency vibration isolation

中图分类号:

O328
TH113

王尚文, 凌鹏, 马洪业, 武传宇, 严博. 仿海马外骨骼六边形结构设计及其低频隔振特性[J]. 机械工程学报, 2026, 62(3): 435-445.

WANG Shangwen, LING Peng, MA Hongye, WU Chuanyu, YAN Bo. Design and Low-frequency Vibration Isolation Characteristics of Seahorse Exoskeleton Hexagonal Structures[J]. Journal of Mechanical Engineering, 2026, 62(3): 435-445.

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仿海马外骨骼六边形结构设计及其低频隔振特性

Design and Low-frequency Vibration Isolation Characteristics of Seahorse Exoskeleton Hexagonal Structures

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