摘要
本文设计了一个无线智能仿生鱼型机器人.采用离子导电聚合物薄膜材料ICPF(Ionic conducting polymer film)作为机器人驱动器,在鱼眼和鱼嘴处内嵌3路红外避障传感器作为仿生鱼型机器人的导航系统,在机器人体内嵌入Arduino Mini Pro作为机器人的主控制器.由于选用低功耗的ICPF材料,该鱼型机器人续航时间长达3 h,该仿生鱼型机器人可实现在水中无噪声前进、转弯和避障等运动模式,且可以实现在线编程和实时充电.实验测试结果表明,该仿生鱼型机器人系统稳定,在水中运动如真实的鱼,可以同其他鱼类生物在同一环境中无干扰的交互生存,在9 V、1Hz电压信号的驱动下,最大游动速度为10.02 mm/s,该仿生鱼型机器人可用于军事侦测,海洋开发等领域.
In this paper, a wireless intelligent biomimetic fish-like robot has been developed. We choose the ICPF（Ionic Conducting Polymer Film） material as the actuator for the fish-like robot, to choose the 3-way infrared ob-stacle avoidance sensor embedded in fish eyes and fish mouth as the navigation system of the fish-like robot,to choose the Arduino Mini Pro as the main controller. Due to the characteristics of low power consumption of the ICPF material, the biomimetic fish-like robot can realize forward motion, turning motion and obstacle avoidance mo-tion without noise in water. In addition, the biomimetic fish-like robot can live with other real fish without interfer-ence in the same environment, the battery of the developed fish-like robot can last 3 hours, and it can realize on-line programming and can be charged in real-time. The experimental results indicated that the developed fish-like robot can move smoothly in water, the maximum velocity of the biomimetic fish-like robot can be obtained at 10.02 mm/s when the driving voltage is 9 V and the driving frequency is 1 Hz, the developed fish-like robot will be used to the field of military detection and ocean exploitation.
出处
《天津理工大学学报》
2014年第4期36-40,共5页
Journal of Tianjin University of Technology
基金
天津市自然科学基金重点项目(13JCZDJC26200)
天津理工大学"大学生创新创业训练计划"项目(X030)
