| 无缆微型仿鱼泳动机器人的设计与运动分析 |
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| 引用本文： | 任思璟,董金波,王安华,徐益民,崔崇信.无缆微型仿鱼泳动机器人的设计与运动分析[J].黑龙江科技学院学报,2011,21(6):486-488,502. |
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| 作者姓名： | 任思璟 董金波 王安华 徐益民 崔崇信 |
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| 作者单位： | 1. 黑龙江科技学院电气与信息工程学院,哈尔滨,150027
2. 黑龙江科技学院机械工程学院,哈尔滨,150027 |
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| 基金项目： | 黑龙江省教育厅科学技术研究项目(12513073) |
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| 摘 要： | 根据鱼类的游动推进原理,提出一种基于螺线管线圈结构的外磁场驱动微型仿鱼机器人的设计方案,构建了其实验控制系统,分析了机器人在液体中的推进力和动力学模型,以及尾鳍对其推进性能的影响。实验结果表明,不同的尾鳍摆动频率和尾鳍长度对推进速度有很大影响,其运动速度随驱动频率的增大而逐步增大,但当驱动频率大于7 Hz时运动速度减慢。实验结果与理论分析相一致。
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| 关 键 词： | 微型游动机器人 控制系统 运动模型 尾鳍 |
Design and motion analysis of wireless micro imitating fish swimming robot |
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| REN Sijing,DONG Jinbo,WANG Anhua,XU Yimin,CUI Chongxin.Design and motion analysis of wireless micro imitating fish swimming robot[J].Journal of Heilongjiang Institute of Science and Technology,2011,21(6):486-488,502. |
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| Authors: | REN Sijing DONG Jinbo WANG Anhua XU Yimin CUI Chongxin |
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| Institution: | 1 (1.College of Electric & Information Engineering,Heilongjiang Institute of Science & Technology,Harbin 150027,China;2.College of Mechanical Engineering,Heilongjiang Institute of Science & Technology,Harbin 150027,China) |
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| Abstract: | According to fish swimming propulsion principle,this paper introduces a design scheme of micro imitating fish robot driven by external magnetic,based on solenoid coil structure,construction of and its experiment control system,and analysis of propulsion and dynamic models of the robot in liquid and effect of tail fin on its propulsive performance.The experimental results show that different tail fin swing frequencies and tail fin lengths exert a great influence on propulsion velocity,and its velocity increases with the increasing of driving frequency,but decreases when driving frequency is more than 7 Hz,the results are consistent with the theoretical analysis. |
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| Keywords: | micro swimming robot control system motion model tail fin |
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