关键词: 超磁致伸缩薄膜, 仿生游动, 微型机器人, 尾鳍形状优化

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 GFM 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.

Key words: Biomimetic swimming Giant magnetostrictive thin film, Optimization of caudal fin configuration, Micro robot