在液体中运动的新型微机器人动力学模型研究

研究一种采用智能型材料驱动的、在液体中运动的新型微机器人。分析了微机器人在液体中运动时驱动翼产生的推进力和所受到的阻力，通过实验测量了微机器人实际所受到的阻力，建立了微机器人的动力学模型，并进行了相关仿真。实验和仿真表明：微机器人在液体中运动受到的阻力不仅包括迎流阻力，还包括不能忽略的液体摩擦阻力；微机器人的运动速度随着驱动翼动作频率的增大而逐步增大，但过大的驱动频率将导致微机器人不能在液体中运动；此外，液体环境对微机器人的运动具有一定的影响，但影响效果有限。

Study on Dynamic Model of Novel Micro Robot Mobile in Liquid

A novel kind of micro robot mobile in liquid which was driven by intelligent material was studied. This paper analysed the propulsion generated by the driving flank and resistance of it. Then the experiment of resistance had been done. Subsequently the dynamic model of the micro robot mobile in liquid was established and the simulation had been done. The experiments and simulation show that the resistance that the micro robot is endured includes the head-on resistance and friction resistance from the liquid. And the mobile speed of micro robot increases while the driven frequency of driving flank increasing. But the micro robot will not move if the driven frequency is too high. Additionally, the fluid characteristics affect the moving speed in some extend.