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首页> 外文会议>2012 9th France-Japan amp; 7th Europe-Asia Congress on Research and Education in Mechatronics, 2012 13th International Workshop on Mechatronics. >Structural design and dynamic analysis of robotic fish with piezoelectric fiber composite
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Structural design and dynamic analysis of robotic fish with piezoelectric fiber composite

机译：压电纤维复合材料机鱼的结构设计与动力学分析

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摘要

Robotic fishes using artificial muscle as actuators have been described recently. The purpose of this work is to develop a flexible robotic fish using the piezoelectric fiber composite (PFC). To achieve the good flexibility and mobility of the robotic fish, we proposed a simple and compact structure. The load simulation method of piezoelectric actuator was employed to improve the fish's movement performance and swimming efficiency. By the analysis of the driving characteristics of the PFC, the robot structure with symmetrical distribution was designed based on the caudal fin propulsion mode. This structure was verified reasonable in the theoretical and simulation method. The dynamic characteristics of this underwater robot were both analyzed through the experiments and numerical analysis of Finite Element Method (FEM). The calculated results were congruent well with the experiment measurements of the prototype. Relatively high swimming speed was achieved during the experimental tests for a prototype. This indicated the numerical methods can be applied in the structural optimization and dynamic analysis of the robotic fish. More information will be available for the fluid-structure interaction analysis in future.
机译：最近已经描述了使用人造肌肉作为致动器的机器鱼。这项工作的目的是开发一种使用压电纤维复合材料（PFC）的柔性机器人鱼。为了实现机械鱼的良好灵活性和可移动性，我们提出了一种简单紧凑的结构。采用压电致动器的载荷模拟方法来提高鱼的运动性能和游泳效率。通过分析PFC的驱动特性，基于尾鳍推进模式设计了对称分布的机器人结构。该结构在理论和仿真方法上都得到了验证。通过有限元方法（FEM）的实验和数值分析，对该水下机器人的动力学特性进行了分析。计算结果与原型的实验测量结果非常吻合。在原型的实验测试中达到了较高的游泳速度。这表明数值方法可用于机器人鱼的结构优化和动力学分析。将来将有更多信息可用于流固耦合分析。

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