东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2009, Vol. 30 ›› Issue (6): 773-776.DOI: -

• 论著 • 上一篇    下一篇

基于IPMC驱动器的小型遥控机器鱼的研制

郝丽娜;徐夙;刘斌;   

  1. 东北大学信息科学与工程学院;
  • 收稿日期:2013-06-22 修回日期:2013-06-22 出版日期:2009-06-15 发布日期:2013-06-22
  • 通讯作者: Xu, S.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(60675050)

A miniature fish-like robot with infrared remote receiver and IPMC actuator

Hao, Li-Na (1); Xu, Su (1); Liu, Bin (1)   

  1. (1) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China
  • Received:2013-06-22 Revised:2013-06-22 Online:2009-06-15 Published:2013-06-22
  • Contact: Xu, S.
  • About author:-
  • Supported by:
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摘要： IPMC智能材料具有驱动电压低、响应形变高的特性.利用这种智能材料为驱动器,设计了一种小型遥控机器鱼.该机器鱼可以由红外电视遥控器遥控,通过改变加在IPMC材料上的驱动电压的幅值和频率来控制机器鱼的游动方向和游动速度.在实验过程中,分别比较了在正弦波激励和方波激励下机器鱼的游动速度的差异,同时验证了驱动信号的幅值与频率对机器鱼游动速度的影响.通过实验有效地证明了IPMC材料作为驱动器的可行性.

关键词: 智能材料, IPMC, 机器鱼, PIC控制器, 红外遥控器

Abstract: As a new intelligent material, IPMC can be driven under low voltage with quick response to its deformation. With IPMC used as an actuator, a miniature fish-like robot was designed, which can be controlled by an infrared remote controller. The running direction and speed of the robot can be changed by readjusting the driving voltage amplitude/frequency to the IPMC. The different running speeds of the robot excited by sinusoidal wave and square wave were compared experimentally with each other, with the impact of the driving signal amplitude/frequency on the running speed verified. Experimental results showed that taking IPMC as actuator is available.

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