In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model th...In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.展开更多
As a novel class of metallic materials, bulk metallic glasses(BMGs) have attracted a great deal of attention owing to their technological promise for practical engineering applications. In nature, biological materials...As a novel class of metallic materials, bulk metallic glasses(BMGs) have attracted a great deal of attention owing to their technological promise for practical engineering applications. In nature, biological materials exhibit inherent multifunctional integration, which provides some inspiration for scientists and engineers to construct multifunctional artificial materials. In this contribution, inspired by superhydrophobic self-cleaning lotus leaves, multifunctional bulk metallic glasses(BMG) materials have been fabricated through the thermoplastic forming-based process followed by the SiO_2/soot deposition. To mimic the microscale papillae of the lotus leaf, the BMG micropillar with a hemispherical top was first fabricated using micro-patterned silicon templates based on thermoplastic forming. The deposited randomly distributed SiO_2/soot nanostructures covered on BMG micropillars are similar to the branch-like nanostructures on papillae of the lotus leaf. Micro-nanoscale hierarchical structures endow BMG replica with superhydrophobicity, a low adhesion towards water, and self-cleaning, similar to the natural lotus leaf. Furthermore, on the basis of the observation of the morphology of BMG replica in the Si mould, the formation mechanism of BMG replica was proposed in this work. The BMG materials with multifunction integration would extend their practical engineering applications and we expect this method could be widely adopted for the fabrication of other multifunctional BMG surfaces.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 61075100)
文摘In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
基金the National Natural Science Foundation of China (21273016, 51271195)the National Basic Research Program of China (2013CB933003, 2015CB856800)+1 种基金the Program for New Century Excellent Talents in University, Beijing Higher Education Young Elite Teacher Project, the Fundamental Research Funds for the Central Universities, 111 project (B14009)the Key Research Program of the Chinese Academy of Sciences (KJZDEW-M01, M03)
文摘As a novel class of metallic materials, bulk metallic glasses(BMGs) have attracted a great deal of attention owing to their technological promise for practical engineering applications. In nature, biological materials exhibit inherent multifunctional integration, which provides some inspiration for scientists and engineers to construct multifunctional artificial materials. In this contribution, inspired by superhydrophobic self-cleaning lotus leaves, multifunctional bulk metallic glasses(BMG) materials have been fabricated through the thermoplastic forming-based process followed by the SiO_2/soot deposition. To mimic the microscale papillae of the lotus leaf, the BMG micropillar with a hemispherical top was first fabricated using micro-patterned silicon templates based on thermoplastic forming. The deposited randomly distributed SiO_2/soot nanostructures covered on BMG micropillars are similar to the branch-like nanostructures on papillae of the lotus leaf. Micro-nanoscale hierarchical structures endow BMG replica with superhydrophobicity, a low adhesion towards water, and self-cleaning, similar to the natural lotus leaf. Furthermore, on the basis of the observation of the morphology of BMG replica in the Si mould, the formation mechanism of BMG replica was proposed in this work. The BMG materials with multifunction integration would extend their practical engineering applications and we expect this method could be widely adopted for the fabrication of other multifunctional BMG surfaces.
