基于IPMC仿生机器鱼推进效率实验研究

对由离子聚合物金属复合材料(IPMC,Ionic Polymer-Metal Composite)智能材料驱动的仿生机器鱼的推进效率开展了实验研究.为了测量机器鱼的推进性能,使用了一种新型的实验设备完成流体动力学实验.在伺服拖拽系统下,IPMC机器鱼在一个外力为零的环境下自推进前进.通过实验测得在IPMC驱动频率为1 Hz时有最佳的推进效率2.3×10^-3,在1.2 Hz时有最大的推进力0.025 3 N,在1.5 Hz时有最大速度0.021 m/s,同时在2.6 Hz时有最大输出功率0.36 W.实验结果表明,在使机器鱼获得最佳推进效率的最优驱动频率下,机器鱼也能获得较高的推进速度.该推进效率测量方法同样可以应用在研究其他基于智能材料的水下机器人运动实验研究中.

Experimental investigation of biomimetic robotic fish actuated by IPMC

The thrust efficiency of a biomimetic robotic fish was experimentally measured, which was propelled by an ionic polymer-metal composite (IPMC) actuator. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. A maximum thrust efficiency of 2.3×10^-3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.025 3 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.