期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 23, 期 1, 页码 137-150出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2006.889485
关键词
microactuators; microelectromechanical devices (MEMs); microrobots; swimming robot
类别
This paper presents a novel swimming method mediated by traveling waves in elastic tails. The propulsion method is potentially appropriate for maneuvering microrobots; inside the human body. The swimming action relies on the creation of a traveling wave along a piezoelectric layered beam divided into several segments. This requires that a voltage with the same frequency, but different phases and amplitudes, be applied to each segment. The swimming pattern was analyzed theoretically by solving the coupled electric-elastic-fluidic problem, and was optimized to attain reasonable thrust. It was found that despite extreme size limitations, a tail manufactured by current microelectromechanical-devices technology, using piezoelectric material, is able to swim in water at a speed of several centimeters per second. The swimming theory was verified experimentally using an upscaled model that produced propulsion of 0.04 mN, which matches closely the theoretically predicted propulsion.
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