2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins
2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins
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DOI：
10.1007/s41315-017-0019-5
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发表时间：
2017-04
影响因子：
1.7
通讯作者：
Zhihang Ye;Piqi Hou;Zheng Chen
中科院分区：
文献类型：
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作者：
Zhihang Ye;Piqi Hou;Zheng Chen
生物启发的机器鱼被证明是有前途的水下航行器，其高推进效率，隐身性和紧凑的尺寸使它们适合于情报收集，环境监测和渔业农业中的遥感任务。 在本研究中，一个二维（2D），可折叠，仿生机器鱼推进的多个离子聚合物-金属复合人工鳍的发展。 这种鱼的运动，配备了一个尾鳍和两个胸鳍，然后建模的非线性动力学模型的设计和控制的目的。通过实验验证了该模型对机器鱼二维运动的描述能力。前游速度约为12 mm/s，转身速度约为2.5 °/s。
Bio-inspired robotic fish are proving to be promising underwater vehicles whose high propulsion efficiency, stealth, and compact size make them suitable for remote sensing missions in intelligence collection, environmental monitoring, and fishing agriculture. In this research, a two-dimensional (2D), maneuverable, bio-inspired robotic fish propelled by multiple ionic polymer-metal composite artificial fins was developed. The movement of this fish, equipped with one caudal fin and two pectoral fins, was then modeled by a nonlinear dynamic model for design and control purposes. Experiments were conducted to verify the model’s capabilities of characterizing the robotic fish’s 2D movement. The forward-swimming speed reached about 12 mm/s and the turning speed reached about 2.5 deg/s.