Hydrodynamics Modeling of a Piezoelectric Micro-Robotic Fish With Double Caudal Fins

被引：7

作者：

Zhao, Quanliang ^{[1
]}

Chen, Jinghao ^{[1
]}

Zhang, Hongkuan ^{[1
]}

Zhang, Zhonghai ^{[2
]}

Liu, Zhikai ^{[1
]}

Liu, Shiqi ^{[1
]}

Di, Jiejian ^{[1
]}

He, Guangping ^{[1
]}

Zhao, Lei ^{[1
]}

Zhang, Mengying ^{[1
]}

Su, Tingting ^{[1
]}

Liang, Xu ^{[1
]}

机构：

[1] North China Univ Technol, Beijing 100041, Peoples R China

[2] Beijing Aerosp Measurement & Control Technol Co L, Beijing 100041, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2022年 / 14卷 / 03期

基金：

中国国家自然科学基金; 北京市自然科学基金; 国家重点研发计划;

关键词：

hydrodynamics; micro-robotic fish; caudal fin; piezoelectric; microscale mechanisms and robotics; PROPULSION; LOCOMOTION; ROTATION; FLIGHT; SHAPE;

D O I：

10.1115/1.4052973

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An analytical hydrodynamics model for a piezoelectric micro-robotic fish with double caudal fins is presented in this paper. The relation between displacement of the piezoelectric actuator and oscillating angle of the caudal fin is established based on the analysis of the flexible four-bar linkage transmission. The hydrodynamics of caudal fins are described by airfoil and blade element theories. Furthermore, the dynamics and kinetics of the whole micro-robotic fish are analyzed and validated by experiments.

引用

页数：7

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