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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

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[J]. 北京工业大学学报, 2009, 35(3): 289-292.
引用本文: 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[J]. 北京工业大学学报, 2009, 35(3): 289-292.
NIE Lin, LI De-sheng, DONG Tian-wu, CHEN Wei, GUO Shu-xiang. Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot[J]. Journal of Beijing University of Technology, 2009, 35(3): 289-292.
Citation: NIE Lin, LI De-sheng, DONG Tian-wu, CHEN Wei, GUO Shu-xiang. Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot[J]. Journal of Beijing University of Technology, 2009, 35(3): 289-292.

ICPF驱动的微型机器鱼游速的影响因素分析

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

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

  • 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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出版历程
  • 收稿日期:  2008-04-21
  • 网络出版日期:  2022-12-06

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