CAJ | 학술논문

本文设计了一个无线智能仿生鱼型机器人.采用离子导电聚合物薄膜材料ICPF （Ionic conducting polymer film）作为机器人驱动器，在鱼眼和鱼嘴处内嵌3路红外避障传感器作为仿生鱼型机器人的导航系统，在机器人体内嵌入Arduino Mini Pro作为机器人的主控制器.由于选用低功耗的ICPF材料，该鱼型机器人续航时间长达3 h，该仿生鱼型机器人可实现在水中无噪声前进、转弯和避障等运动模式，且可以实现在线编程和实时充电.实验测试结果表明，该仿生鱼型机器人系统稳定，在水中运动如真实的鱼，可以同其他鱼类生物在同一环境中无干扰的交互生存，在9V、1 Hz电压信号的驱动下，最大游动速度为10.02 mm/s，该仿生鱼型机器人可用于军事侦测，海洋开发等领域.
본문설계료일개무선지능방생어형궤기인.채용리자도전취합물박막재료ICPF （Ionic conducting polymer film）작위궤기인구동기，재어안화어취처내감3로홍외피장전감기작위방생어형궤기인적도항계통，재궤기인체내감입Arduino Mini Pro작위궤기인적주공제기.유우선용저공모적ICPF재료，해어형궤기인속항시간장체3 h，해방생어형궤기인가실현재수중무조성전진、전만화피장등운동모식，차가이실현재선편정화실시충전.실험측시결과표명，해방생어형궤기인계통은정，재수중운동여진실적어，가이동기타어류생물재동일배경중무간우적교호생존，재9V、1 Hz전압신호적구동하，최대유동속도위10.02 mm/s，해방생어형궤기인가용우군사정측，해양개발등영역.
In this paper, a wireless intelligent biomimetic fish-like robot has been developed. We choose the ICPF(Ionic Conducting Polymer Film) material as the actuator for the fish-like robot, to choose the 3-way infrared ob-stacle avoidance sensor embedded in fish eyes and fish mouth as the navigation system of the fish-like robot,to choose the Arduino Mini Pro as the main controller. Due to the characteristics of low power consumption of the ICPF material, the biomimetic fish-like robot can realize forward motion, turning motion and obstacle avoidance mo-tion without noise in water. In addition, the biomimetic fish-like robot can live with other real fish without interfer-ence in the same environment, the battery of the developed fish-like robot can last 3 hours, and it can realize on-line programming and can be charged in real-time. The experimental results indicated that the developed fish-like robot can move smoothly in water, the maximum velocity of the biomimetic fish-like robot can be obtained at 10.02 mm/s when the driving voltage is 9 V and the driving frequency is 1 Hz, the developed fish-like robot will be used to the field of military detection and ocean exploitation.