基于电磁驱动的半柔性鳍游泳机器人

Zakir Ullah, Chen Dixiao, Oksana Tovmachenko, Lin Feng
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引用次数: 0

摘要

本文提出了一种微型(120毫米)仿生水下机器人,该机器人采用唇形或拖曳式游泳,平均移动速度为2.7 cm/s (0.25 BL/s)。该机器人配备了一种新型的基于电磁体的驱动器,当与永磁体耦合时,它驱动机器人的鳍,从而产生净推进力。传统的接触式致动器用于机器人鳍片的推进,容易发生事故,并且需要防水,因此开发了一种非接触式致动器,它消除了对致动器防水的需要,并且最适合水下应用,因为电磁铁产生的多余热量会消散到周围的水中。设计了一种凹形半柔性鳍,改变了其恢复和动力行程的几何形状,以最小化水动力阻力并增加推力。这降低了机器人设计的复杂性,并为传感器和其他设备提供了更多的空间。所设计的机器人有可能成为海底勘探、自然资源、水下电缆检测、学术研究和军事应用的水下群机器人的基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Electromagnetic Actuation Based Swimming Robot with Semi-Flexible Fins
In this paper, A miniature (120 mm) bio-inspired underwater robot is presented which employs labriform or drag-based swimming and is capable of moving at an average speed of 2.7 cm/s (0.25 BL/s). The robot is equipped with a novel electromagnet-based actuator, and when coupled with a permanent magnet, it actuates the fins of the robot thus producing net propulsion. Traditional Contact-based actuators, that are employed for propulsion in the robots’ fins are prone to accidents and require waterproofing, hence a contactless actuator has been developed, which eliminates the need for waterproofing of the actuator and is best suited for underwater applications as the excess heat, generated by the electromagnets is dissipated into the surrounding water. A concave-shaped semi-flexible fin has been designed, which changes its geometry in recovery and power stroke to minimize the hydrodynamic drag force and increase the thrust. This reduced the design complexities of the robot and allowed more room for sensors and other equipment. The designed robot has the potential to form the basis for underwater swarm robots for exploration of seabed, natural resources, inspection of underwater cables, academic research and military applications.
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