泳动微机器人的动力学模型研究

Study on Dynamic Model of Swimming Micro Robot

研究对象是以压电元件为驱动器、模仿鱼类游泳方式驱动的微机器人。根据流体力学有关理论,分析了在液体中运动时微机器人驱动翼产生的推进力和微机器人受到的阻力,并对此进行了阻力的有关的实验,在此基础上建立了泳动微机器人的动力学模型,并进行了压电元件驱动频率与微机器人运动速度的仿真,以及液体环境对微机器人运动速度影响的仿真。这些为深入研究泳动微机器人的泳动能力奠定了基础。

This paper studies on a new kind of micro robot which is driven by PZT and simulates the fish to swim Based on the foundamental theories of fluid mechanism , this paper analyses the propulsion generated by the driving flank and also its resistance. Then the experiment of resistance has been done. Subsequently the dynamic model of the swimming micro robot is established. Additionally , this paper has studied the relationship between the driven frequen- cy of PZT and the micro robot moving speed, also the relationship between the fluid characteristic and the micro robot moving speed . These are important basis for further research on lhe micro robot swimming performance.