BIO-INSPIRED ROBOTIC COWNOSE RAY PROPELLED BY ELECTROACTIVE POLYMER PECTORAL FIN
BIO-INSPIRED ROBOTIC COWNOSE RAY PROPELLED BY ELECTROACTIVE POLYMER PECTORAL FIN
复制标题
由电活性聚合物胸鳍驱动的仿生机器人牛鼻鳐
DOI：
10.1115/imece2011-64174
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发表时间：
2011
影响因子：
4.1
通讯作者：
H. Bart
中科院分区：
文献类型：
--
作者：
Zheng Chen;Tae I. Um;Jianzhong Zhu;H. Bart
牛鼻鳐（Rhinoptera bonatum）表现出出色的游泳能力;通过拍打背部扁平的胸鳍产生高效的推力。在本文中，我们提出了一个生物启发和自由游泳的机器人，模仿牛鼻射线的游泳行为。机器人有两个人造胸鳍，通过扭曲的拍打运动产生推力。每个人工胸鳍由一个离子聚合物-金属复合材料（IPMC）作为前缘的人工肌肉和一个被动的PDMS膜在后缘。通过向IPMC施加电压信号，被动PDMS膜以相位延迟跟随IPMC的弯曲，这导致鳍上的扭转角。表征结果表明，胸鳍能够产生高达40%的尖端偏转和10°的扭转角，小于1瓦的功耗。利用牛鼻鳐体的计算机轴向断层扫描（CT扫描）数据设计了一个生物启发的刚体，并使用三维打印机打印。为自由泳机器人研制了一种重量轻、结构紧凑的锂离子聚合物电池车载控制单元。实验结果表明，机器人以0.034 BL/S的速度游动。
The cownose ray (Rhinoptera bonasus) demonstrates excellent swimming capabilities; generating highly efficient thrust via flapping of dorsally flattened pectoral fins. In this paper, we present a bio-inspired and free swimming robot that mimics the swimming behavior of the cownose ray. The robot has two artificial pectoral fins to generate thrust through a twisted flapping motion. Each artificial pectoral fin consists of one ionic polymer-metal composite (IPMC) as artificial muscle in the leading edge and a passive PDMS membrane in the trailing edge. By applying voltage signal to the IPMC, the passive PDMS membrane follows the bending of IPMC with a phase delay, which leads to a twist angle on the fin. The characterization results have shown that the pectoral fin was able to generate up to 40% tip deflection and 10° twist angle with less than 1 Watt power consumption. A bio-inspired rigid body was designed using Computerized Axial Tomography (CT Scan) data of the cownose ray body and printed using a 3-dimensional printer. A light and compact on-board control unit with a lithium ion polymer battery has been developed for the free swimming robot. Experimental results have shown that the robot swam at 0.034 BL/S.Copyright © 2011 by ASME