基于ICPF驱动器无线仿生鱼型机器人设计  

Design of a wireless biomimetic fish-like robot based on ICPF actuator

作　　者：樊成[1] 魏祥[1] 冯磊[1] 郭健[1] 郭书祥[1,2] 

机构地区：[1]天津理工大学自动化学院天津市复杂系统控制理论及应用重点实验室医学机器人实验室,天津300384 [2]日本香川大学工学院

出　　处：《天津理工大学学报》2014年第4期36-40,共5页Journal of Tianjin University of Technology

基　　金：天津市自然科学基金重点项目(13JCZDJC26200);天津理工大学"大学生创新创业训练计划"项目(X030)

摘　　要：本文设计了一个无线智能仿生鱼型机器人.采用离子导电聚合物薄膜材料ICPF(Ionic conducting polymer film)作为机器人驱动器,在鱼眼和鱼嘴处内嵌3路红外避障传感器作为仿生鱼型机器人的导航系统,在机器人体内嵌入Arduino Mini Pro作为机器人的主控制器.由于选用低功耗的ICPF材料,该鱼型机器人续航时间长达3 h,该仿生鱼型机器人可实现在水中无噪声前进、转弯和避障等运动模式,且可以实现在线编程和实时充电.实验测试结果表明,该仿生鱼型机器人系统稳定,在水中运动如真实的鱼,可以同其他鱼类生物在同一环境中无干扰的交互生存,在9 V、1Hz电压信号的驱动下,最大游动速度为10.02 mm/s,该仿生鱼型机器人可用于军事侦测,海洋开发等领域.In this paper, a wireless intelligent biomimetic fish-like robot has been developed. We choose the ICPF（Ionic Conducting Polymer Film） material as the actuator for the fish-like robot, to choose the 3-way infrared ob-stacle avoidance sensor embedded in fish eyes and fish mouth as the navigation system of the fish-like robot,to choose the Arduino Mini Pro as the main controller. Due to the characteristics of low power consumption of the ICPF material, the biomimetic fish-like robot can realize forward motion, turning motion and obstacle avoidance mo-tion without noise in water. In addition, the biomimetic fish-like robot can live with other real fish without interfer-ence in the same environment, the battery of the developed fish-like robot can last 3 hours, and it can realize on-line programming and can be charged in real-time. The experimental results indicated that the developed fish-like robot can move smoothly in water, the maximum velocity of the biomimetic fish-like robot can be obtained at 10.02 mm/s when the driving voltage is 9 V and the driving frequency is 1 Hz, the developed fish-like robot will be used to the field of military detection and ocean exploitation.

关 键 词：仿生鱼型机器人 ICPF(Ionic CONDUCTING polymer film)驱动器 红外传感器 微控制器 无噪声 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]