CAJ | 학술논문

本文从微小型鱼类的运动和受力分析入手,基于人工肌肉IPMC(离子聚合物金属复合材料)的特性,进行微型机器鱼的结构和控制系统的设计.在此皋础上实现仿小型鱼类的各种运动模式,然后,讨论了IPMC驱动器推进效率的优化.实验结果证明,基于IPMC的厘米级机器鱼是可行的:通过改变控制信号的频率和占空比,实现微型机器鱼的速度控制;通过控制胸鳍和尾鳍,实现上浮、下潜、转弯、巡游等运动模式.最后从尾鳍推进器的结构角度分析了如何提高推进效率.
본문종미소형어류적운동화수력분석입수,기우인공기육IPMC(리자취합물금속복합재료)적특성,진행미형궤기어적결구화공제계통적설계.재차고출상실현방소형어류적각충운동모식,연후,토론료IPMC구동기추진효솔적우화.실험결과증명,기우IPMC적전미급궤기어시가행적:통과개변공제신호적빈솔화점공비,실현미형궤기어적속도공제;통과공제흉기화미기,실현상부、하잠、전만、순유등운동모식.최후종미기추진기적결구각도분석료여하제고추진효솔.
The structure and control system of micro robot fish are designed based on the properties of the IPMC (ionic polymer metal composite) after analyzing locomotion and force of small fish.Then efficiency improvement of the IPMC is discussed, and various locomotion patterns are realized on the micro robot fish.The experimental results prove that an IPMC based centimeter scale micro robot fish is feasible.The velocity control can be realized by changing frequency and duty ratio of the control signal, and ascent-descent, turning, cruising can be realized by the cooperation of pectoral fin and caudal fin.Finally, this paper analyzes how to improve propulsive efficiency from the viewpoint of structure design of the caudal fin propulsor.