CAJ | 학술논문

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。
근거어류적유동추진원리,제출일충기우라선관선권결구적외자장구동미형방어궤기인적설계방안,구건료기실험공제계통,분석료궤기인재액체중적추진력화동역학모형,이급미기대기추진성능적영향。실험결과표명,불동적미기파동빈솔화미기장도대추진속도유흔대영향,기운동속도수구동빈솔적증대이축보증대,단당구동빈솔대우7 Hz시운동속도감만。실험결과여이론분석상일치。
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.