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Date of Publication:2006-01-01

Journal:机械工程学报

Affiliation of Author(s):机械工程学院

Issue:2

Page Number:37-42

ISSN No.:0577-6686

Abstract:According to bionic principle, a fish-like swimming micro robot using giant magnetostrictive thin film actuator as a propulsion caudal fin can improve its reliability and feasibility in the way of non-contact control. As the configuration optimization of caudal fin is the key to modify its propulsive force and drive efficiency of the robot, several kinds of selected caudal fin configurations are selected in the condition of equal caudal area and length. Then their propulsive force is validated by simulation based on established force oscillation dynamic model of giant magnetostrictive thin film in variable cross section area cantilever structures and propulsive models of micro robot in the liquid. As a result an optimal configuration caudal fin is selected, and the stress distribution of inside caudal fin is analyzed by the finite element method. Finally the experimental result validates that the caudal fin as selected configuration can generate more thrust force and better efficiency.

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