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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.
An experimental study was conducted on the propulsion efficiency of bionic robot fish driven by a smart material of Ionic Polymer-Metal Composite (IPMC). In order to measure the propulsion performance of a robot fish, a new type of experimental equipment was used to complete the fluid Kinetic experiment In the servo-drag system, IPMC robot fish self-propelled in an environment with zero external force, and the best propulsion efficiency was found when the IPMC drive frequency was 1 Hz through experiments. The best propulsion efficiency was 2.3 × 10-3, With a maximum propulsive force of 0.025 3 N at 1.2 Hz, a maximum speed of 0.021 m / s at 1.5 Hz and a maximum output power of 0.36 W at 2.6 Hz. The experimental results show that, at the optimum level for the robot fish, Of the optimal driving frequency, the robot fish can also get a higher propulsion speed.The propulsion efficiency measurement method can also be applied in the study of other intelligent robot-based underwater robot kinematics research.