Knowledge Commons of Institute of Automation,CAS
Design and Implementation of a Magnetically Actuated Miniature Robotic Fish | |
Xingyu Chen1,2![]() ![]() ![]() ![]() | |
2017-07 | |
会议名称 | World Congress of The International Federation of Automatic Control |
会议日期 | 2017-7 |
会议地点 | Toulouse, France |
摘要 | At present, most of bio-inspired robotic fish are designed with large sizes and actuated by electric motors. In this paper, an 89-mm-long robotic fish is designed and built, which is capable of swimming fast and turning flexibly. This miniature robotic fish is intended to be used as a tool for animal behavioral research and special underwater missions. Compared with traditional design, the propulsion system is characterized by no motor, which is a magnetic actuator. Bluetooth low energy is utilized for remote control, allowing convenient operation via smart devices. By means of law of electromagnetic induction, the relationship between current and magnetic induction intensity is explored. Further, a novel tail-beat rhythm for magnetic actuator is proposed. Meanwhile, a dynamic modeling of fishlike swimming is constructed based on a Lagrange approach to analyze its propulsive performance. Finally, aquatic experiments verify the effectiveness of the formulated magnetically actuated design scheme along with the conducted theoretical analyses. |
关键词 | Underwater robot Robotic fish Magnetic actuator Dynamic modeling |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/15294 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Zhengxing Wu |
作者单位 | 1.University of Chinese Academy of Sciences 2.Institute of Automation, Chinese Academy of Science |
推荐引用方式 GB/T 7714 | Xingyu Chen,Zhengxing Wu,Chao Zhou,et al. Design and Implementation of a Magnetically Actuated Miniature Robotic Fish[C],2017. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
1676.pdf(1441KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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