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基于IPMC仿生机器鱼推进效率实验研究

沈奇 韩晨皓 王田苗 梁健宏

沈奇, 韩晨皓, 王田苗, 等 . 基于IPMC仿生机器鱼推进效率实验研究[J]. 北京航空航天大学学报, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748
引用本文: 沈奇, 韩晨皓, 王田苗, 等 . 基于IPMC仿生机器鱼推进效率实验研究[J]. 北京航空航天大学学报, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748
Shen Qi, Han Chenhao, Wang Tianmiao, et al. Experimental investigation of biomimetic robotic fish actuated by IPMC[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748(in Chinese)
Citation: Shen Qi, Han Chenhao, Wang Tianmiao, et al. Experimental investigation of biomimetic robotic fish actuated by IPMC[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(12): 1730-1735. doi: 10.13700/j.bh.1001-5965.2013.0748(in Chinese)

基于IPMC仿生机器鱼推进效率实验研究

doi: 10.13700/j.bh.1001-5965.2013.0748
基金项目: 国家自然科学基金资助项目(61333016)
详细信息
  • 中图分类号: TP24

Experimental investigation of biomimetic robotic fish actuated by IPMC

  • 摘要: 对由离子聚合物金属复合材料(IPMC,Ionic Polymer-Metal Composite)智能材料驱动的仿生机器鱼的推进效率开展了实验研究.为了测量机器鱼的推进性能,使用了一种新型的实验设备完成流体动力学实验.在伺服拖拽系统下,IPMC机器鱼在一个外力为零的环境下自推进前进.通过实验测得在IPMC驱动频率为1 Hz时有最佳的推进效率2.3×10-3,在1.2 Hz时有最大的推进力0.025 3 N,在1.5 Hz时有最大速度0.021 m/s,同时在2.6 Hz时有最大输出功率0.36 W.实验结果表明,在使机器鱼获得最佳推进效率的最优驱动频率下,机器鱼也能获得较高的推进速度.该推进效率测量方法同样可以应用在研究其他基于智能材料的水下机器人运动实验研究中.

     

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出版历程
  • 收稿日期:  2014-01-08
  • 网络出版日期:  2014-12-20

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