| ICPF驱动的微型机器鱼游速的影响因素分析 |
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| 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. |
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| 作者姓名： | 聂林 李德胜 董天午 陈伟 郭书祥 |
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| 作者单位： | 北京工业大学,机械工程与应用电子技术学院,北京,100124;日本国立香川大学,日本香川,761-0396 |
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| 基金项目： | 北京市先进制造技术重点实验室基金 |
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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.
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| 关 键 词： | ICPF驱动 柔性微型机器鱼 相位 频率 摆幅 |
Analysis on Causes for Velocity Fluctuation of ICPF Actuated Fishlike Micro-robot |
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| 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 Polytechnic University,2009,35(3):289-292. |
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| Authors: | NIE Lin LI De-sheng DONG Tian-wu CHEN Wei GUO Shu-xiang |
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| Affiliation: | 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 |
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| 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 rang... |
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| Keywords: | ICPF fish-like flexible micro-robot phase frequency swing amplitude |
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