The Bionic Optimization Of Wireless Swimming Micro Robot

According to the bionic principle, a wireless fish-like swimming micro robot using GMF actuator as a caudal fin has been developed. It possesses many advantages such as a little inertia, wireless driving, higher efficiency of swimming and so on so that it has a widespread prospect for applying in the medical field.Firstly, basing on the bending vibration of the cantilever on the equivalent moment, the research about the vibration characteristic of the film actuator has been made. According to the experimental amplitude of the film, considering the equivalent energy principle, the damping characteristic can be deserved to settle a foundation to the optimization for the actuator.Secondly, basing on the vibration of the film and imitating the shape of caudal fins and moving model of fishes in the liquid, the optimization for the film actuator in the shape will be carried through by the discrete variable optimization with respect to the same area of films. Moreover, the stress and mode analysis for the optimized film are made.Finally, the probing research has been carried through that micro-robot can swim forwards and backwards through using two film actuators. Making the goal that swimming velocity is of better symmetry and beeline, the Genetic Algorithm is introduced to optimize two film actuators.Lots of experiments show that the film actuator like fish caudal fins can provide greater thrust and better efficiency so that the micro robot is of the faster velocity and better efficiency.