一种新型微型仿生机器鱼控制系统的设计  

Design of the control system of a new biomimetic microrobot fish

作　　者：翟晓辉 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《应用科技》2009年第10期48-52,共5页Applied Science and Technology

基　　金：国家高技术研究发展计划资助项目(2006AA04Z248)

摘　　要：针对ICPF(ionic conducting polymer film)驱动的微型智能仿生机器鱼进行研究.以鱼类为仿生对象,通过对鱼类游动机理的仿生学研究,设计了鱼形结构的主体框架、两自由度的胸鳍和尾鳍推进机构及基于AVR单片机的机器鱼硬件控制系统.针对微型仿生鱼运动特点,设计了直线巡游和转弯运动等运动模式及自动避障功能.最后建立了仿生机器鱼实验系统,进行了仿生机器鱼驱动性能测试和推进实验,实现了仿生机器鱼的避障功能,验证了系统设计的可行性.A biomimetic microrobot fish based on Ionic conducting polymer film （ICPF） is studied. Through imitating the live fish, the main structure of the fish is designed, the pectoral fin and tail fin propulsion mechanism of 2 Degrees of Freedom （DOF） and the hardware control system based on the AVR Single-chip Microcomputer are also designed to realize linear cruising and swerving movements and the function of obstacle avoidance. At the end of the paper, the experimental system is set up. The feasibility of our design is verified through function test and propulsion experiment.

关 键 词：仿生机器鱼 主体结构 控制系统 自动蔽障 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]