ICPF驱动的微型机器鱼游速的影响因素分析

聂林; 李德胜; 董天午; 陈伟; 郭书祥

ICPF驱动的微型机器鱼游速的影响因素分析

1. 北京工业大学机械工程与应用电子技术学院, 北京 100124;
2. 日本国立香川大学, 日本香川761-0396

基金项目:

北京市先进制造技术重点实验室基金资助项目(05001790200705).

详细信息

作者简介:
聂林(1971-),男,河南郑州人,博士生.

中图分类号: TH35
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出版历程
- 收稿日期: 2008-04-21
- 网络出版日期: 2022-12-06

Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot

1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China;
2. Department of Intelligent Mechanical Systems, Kagawa University, Kagawa 761-0396, Japan

摘要

摘要: 为使ICPF驱动的柔性微型机器鱼较好地应用于血管微创手术和工业管道检测等领域,对机器鱼进行理论研究是必需的.依据库塔-儒柯夫斯基定理得到鱼尾在流体中产生的推力,建立了机器鱼的动力学模型.分析了机器鱼游动速度的变化规律;尾鳍摆动角度的幅值、相位、频率对机器鱼游速的影响规律.为以后研究优化机器鱼的游动能力,提高机器鱼的可靠性和灵活性提供了理论依据.
- ICPF驱动 /
- 柔性微型机器鱼 /
- 相位 /
- 频率 /
- 摆幅
Abstract: In order to make a novel fish-like flexible micro-robot actuated by ICPF meet well with the needs of microsurgery of bloodvessel and industrial pipeline inspection in such area as medical treatment and industry, theoretical analysis for the micro-robot is needed.For analyzing the characters of the robot and improving the reliability and feasibility of the robot,a dynamic model of the micro-robot is established by applying Kutta-Joukowski theorem.Then,the velocity analysis of the micro-robot in the time range of 3 second is investigated.At last the relation between the swing angle's amplitude,phase and frequency of the robot's tail and the velocity of the micro-robot is theoretically analyzed and several simulation graphs about the microrobot are performed.
- ICPF /
- fish-like flexible micro-robot /
- phase /
- frequency /
- swing amplitude

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参考文献(9)

[1]	GUO Shu-xiang,FUKUDA T,ASAKA K.A new type of fish-like underwater microrobot[J].IEEE/ASME Transactions on Mechatronics,2003,8(1):35-40.
[2]	GUO S,SASAKI Y,FUKUDA T.A new kind of microrobot in pipe using driving fin[C]//Proceedings of the International Conference on Advanced Intelligent Mechatronics.Kobe:IEEE,2003:667-702.
[3]	GUO S,SASAKI Y,FUKUDA T.A fin type of microrobot in pipe[C]//Proceedings of the International Symposium on Micro Machine and Human Scicence.Nagoya:IEEE,2002:93-98.
[4]	钟映春,谭湘强,杨宜民.泳动式微机器人主体机构设计与研究[J].压电与声光,2001,23(5):220-222. ZHONG Ying-chun,TAN Xiang-qiang,YANG Yi-min.Research and design on the main body mechinery of the swimming micro-robot[J].Journal of Piezoelectrics and Acousto-optics,2001,23(5):220-222.(in Chinese)
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[6]	NIE Lin,LI De-sheng,GUO Shu-xiang.Design and analysis on the dynamics of ICPF actuated tortoise-Like flexible micro-robot [C]//Proceedings of SPIE Sixth International Symposium on Instrumentation and Control Technology.Beijing:SPIE, 2006:635-641.
[7]	NIE Lin,LI De-sheng,GUO Shu-xiang.Analysis on dynamics for flexible leg of ICPF actuated tortoise-like micro-robot[C] //Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation.Harbin:IEEE,2007:1102- 1107.
[8]	NIE Lin,ZHANG Xing-lan,NIE Rong,et al.Swing characteristics on tail of tortoise-like flexible micro-robot[C]// Proceedings of SPIE-Volume 6423 International Conference on Smart Materials and Nanotechnology in Engineering.Harbin :IEEE,2007:4232-4232.
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ICPF驱动的微型机器鱼游速的影响因素分析

作者简介: 聂林(1971-),男,河南郑州人,博士生.

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出版历程

Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot

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目录

作者简介:
聂林(1971-),男,河南郑州人,博士生.