基于IPMC驱动的自主微型机器鱼

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苏玉东, 叶秀芬, 郭书祥. 基于IPMC驱动的自主微型机器鱼[J]. 机器人, 2010, 32(2): 262-270.. SU Yudong, YE Xiufen, GUO Shuxiang. An Autonomous Micro Robot Fish Based on IPMC Actuator. ROBOT, 2010, 32(2): 262-270..

摘要本文从微小型鱼类的运动和受力分析入手，基于人工肌肉IPMC（离子聚合物金属复合材料）的特性，进行微型机器鱼的结构和控制系统的设计．在此基础上实现仿小型鱼类的各种运动模式，然后，讨论了IPMC驱动器推进效率的优化．实验结果证明，基于IPMC的厘米级机器鱼是可行的：通过改变控制信号的频率和占空比，实现微型机器鱼的速度控制;通过控制胸鳍和尾鳍，实现上浮、下潜、转弯、巡游等运动模式．最后从尾鳍推进器的结构角度分析了如何提高推进效率．

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	苏玉东
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关键词 ： IPMC, 微型机器鱼, 运动模式, 避障

Abstract：The structure and control system of micro robot fish are designed based on the properties of the IPMC (ionic polymer metal composite) after analyzing locomotion and force of small fish. Then efficiency improvement of the IPMC is discussed, and various locomotion patterns are realized on the micro robot fish. The experimental results prove that an IPMC based centimeter scale micro robot fish is feasible. The velocity control can be realized by changing frequency and duty ratio of the control signal, and ascent-descent, turning, cruising can be realized by the cooperation of pectoral fin and caudal fin. Finally, this paper analyzes how to improve propulsive efficiency from the viewpoint of structure design of the caudal fin propulsor.

Key words： IPMC (ionic polymer metal composite) micro robot fish locomotion pattern obstacle avoidance

收稿日期: 2009-03-24 录用日期: 2009-11-06

TP24

基金资助:国家863计划资助项目（2006AA04Z248）

通讯作者: 苏玉东 E-mail: suyudong@163.com,yudongsu@hotmail.com

作者简介: 苏玉东（1972- ），男，博士生，高级工程师．研究领域：模式识别，智能系统，微型机器人．
叶秀芬（1966– ），女，博士，教授．研究领域：模式识别，智能系统，图像处理，微型机器人．
郭书祥（1962– ），男，博士，教授．研究领域：机电系统，智能系统，图像处理，微型机器人．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/262

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