Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot
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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.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.
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Keywords:
- ICPF /
- fish-like flexible micro-robot /
- phase /
- frequency /
- swing amplitude
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