摘要
The active torsion propulsion mode of a caudal fin,composed of macro fiber composites(MFC)and carbon fiber orthotropic composite material is proposed.The caudal fin is excited by the piezoelectric structure to vibrate flexibly.The work principle is firstly analyzed by finite element method(FEM)and experiments.Then the caudal fin is optimized to increase the torque and improve the streamline,and the added mass effect from the water is discussed in terms of the frequency of the structure.The torsion resonance frequency is around 103 Hz in the air and decreased by 75%to 25 Hz in the water.Finally,the mean thrust is discussed and measured to be 11 mN at900V(Peak to peak)driving voltage.A flexible micro robot is developed and tested.The locomotion velocity and flow velocity is 320mm/s and 268mm/s,respectively.The results of the simulation and experiments indicate that the locomotion of the biomimetic aquatic robot has fast movement characteristics.
The active torsion propulsion mode of a caudal fin, composed of macro fiber composites （MFC） and car- bon fiber orthotropic composite material is proposed. The caudal fin is excited by the piezoelectric structure to vi- brate flexibly. The work principle is firstly analyzed by finite element method （FEM） and experiments. Then the caudal fin is optimized to increase the torque and improve the streamline, and the added mass effect from the water is discussed in terms of the frequency of the structure. The torsion resonance frequency is around 103 Hzin the air anti decreased by 75%to 25 Hz in the water. Finally, the mean thrust is discussed and measured to be I 1 mN at 900 V （Peak to peak） driving voltage. A flexible micro robot is developed and tested. The locomotion velocity and flow velocity is 320 mm/sand268 mm/s, respectively. The results of the simulation and experiments indicate that Hie locomotion of the biomimetic aquatic robot has fast movement characteristics.
基金
supported by the Natural Science Foundation of China(No.5175250)
the Funding of Jiangsu Innovation Program for Graduate Education
the Fundamental Research Funds for the Central Universities (No.CXLX12_0144)
the Science and Technology Plan Project of Shandong Colleges and Universities (No.J16LB06)
the Priority Academic Program Development of Jiangsu Higher Education Institutions(PADA)
