贾振元

个人信息Personal Information

教授

博士生导师

硕士生导师

主要任职:校长、党委副书记

性别:男

毕业院校:大连理工大学

学位:博士

所在单位:机械工程学院

电子邮箱:jzyxy@dlut.edu.cn

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外场驱动无缆微机器人的仿生游动特性

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论文类型:期刊论文

发表时间:2022-06-29

发表刊物:机械工程学报

所属单位:机械工程学院

期号:10

页面范围:51-56

ISSN号:0577-6686

摘要:A micro biomimetic swimming robot based on NdFeB magnet is developed. Its working principle is to convert magnetic energy into mechanical vibration of its head with NdFeB magnet which actuates the vibration of copper tail fin on the action of piezomagnetism and magneto mechanical coupling of its NdFeB magnet when time varied oscillating magnetic field with different frequencies externally applied, then propulsive force produced under the action of coupling between vibrated tail fin and liquid. For the reason that NdFeB magnet is driven in non-contact way, it is needless for robot to carry cable. Based on cantalever beam model with mini vibration at stationary end, undulation equation of tail fin is established according to force oscillation model, in addition, based on biomimetic swimming principle, a mathematical model for calculating propulsive force is proposed, on which propulsive forces generated by the input value of tail fin vibration in shape modes of the first three stage resonance frequencies are calculated respectively as to find out the relationship between propulsive forces and shape modes. Experiments show the correctness of the theoretical analysis and the feasibility of the research proposal on micro biomimetic swimming robot.

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