The swimming mechanism of the underwater fish-like robot, which is controlled by the giant magnetostrictive material actuator, is studied with the aid of the non-linear vibration method. A mechanics model of the robot is presented based on the relationship between the driving force and frequencies, which is controlled by external magnetic fields. The numerical results show that steady and unsteady solution of the project accord with the dynamic characteristics of tuna and pike fish, respectively.
Cheng, J.Y., Zhuang, L.X. and Tong, B.G.1991. ``Analysis of Swimming 3-D Waving Plate, '' Journal of Fluid Mechanics, 232:341-355.
2.
Clark, A.E.1980. Ferromagnetic Material (1), Wohlfath, E.P. North-Holland Publishing Company, Holl and.
3.
Fukuda, T., Hosokai, H. and Kikuchi, I.1990. ``Distributed Type of Actuators by Shape Memory Alloy and its Application to Underwater Mobile Robotic Mechanism,'' In: Proceedings IEEE International Conference on Robotics and Automation , pp. 1316-1321, New York, USA.
4.
Gerhart, P.M., Gross, R.J. and Hochstein, J.I.1992. Fundamentals of Fluid Mechanics, 2nd edn, Addison Wesley, New York , USA.
5.
Guo, S.X., Sasaki, Y. and Fukuda, T.2002. ``A Fin Type of Microrobot in Pipe,'' In: Proceedings of the International Symposium on Micro-mechatronics and Human Science, pp. 93-98, Takamatsu, Japan.
6.
Guo, S.X., Fukuda, T. and Asaka, K.2003. ``A New Type of Fish-like Underwater Microrobot , '' IEEE Transactions on Mechatronics, 8(1):136-141.
7.
Honda, T., Sakashita, T., Narahashi, K. and Yamasaki, J.2001. ``Swimming Properties of a Bending-type Magnetic Micromachine ,'' Journal of the Magnetics Society of Japan , 25(4-2): 1175-1178.
8.
Lighthill, J.1960. ``Note on the Swimming of Slender Fish, '' Journal of Fluid Mechanics, 9(5):305-317.
9.
Mei, T., Chen, Y., Fu, G.Q. and Kong, D.Y.2002. ``Wireless Drive and Control of a Swimming Microrobot,'' In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1131-1136, Washington, USA.
10.
Mojarrad, M. and Shahinpoor, M.1997. ``Biomimetic Robotic Propulsion Using Polymeric Artificial Muscles,'' In: IEEE International Conference on Robotics and Automation, pp. 2152-2157, Albuquerque, New Mexico, USA.
11.
Otsuka, A.1988. ``Development of an Eating Function Support System,'' In: Proceedings 1st IARP Workshop Medical and Healthcare Robots, pp. 789-792, Ottawa, Canada.
12.
Qi, Z.H.2008. Dynamics of Multibody Systems, Science Press, Beijing, China (in Chinese).
13.
Sudo, S., Orikasa, R. and Honda, T.2004. ``Locomotive Characteristics of Swimming Mechanism Propelled by Alternating Magnetic Field,'' International Journal of Applied Electromagnetics and Mechanics, 19(1-4):263-267.
14.
Taylor, G.I.1951. ``Analysis of the Swimming of Microscopic Organisms,''Proceedings of the Royal Society of London, A209:447-461.
15.
Ji, H.T., Fan, J. and Huang, X.L.2003. ``Numerical Simulation of Hydrodynamic Force s of Heave Plate,'' Journal of Shanghai Jiao Tong University , 37(8):1266-1270.
16.
Tomie, M., Takiguchi, A., Honda, T. and Yamasaki, J.2005. ``Turning Performance of Fish-like Microrobot Driven by External Magnetic Field,'' IEEE Transactions on Magnetics , 41(10):4015-4017.
17.
Wu, T.Y.1961. ``Swimming of a Waving Plate,'' Journal of Fluid Mechanics, 10:321-344.
18.
Wu, T.Y.1971. ``Hydromechanics of Swimming Propulsion,''Journal of Fluid Mechanics, 46:337-355, 521-544, 545-568.
19.
Yang, H.T.1999. ``A New Approach of Time Stepping for Solving Transfer Problems,'' Communications in Numerical Methods in Engineering , 15(5):325-334.
20.
Zhang, Y., Wang, X.H., Mei, T., Wang, Q.M. and Zhang, P.Q.2004. ``Driving Principle and Dynamic Analysis of a Micro Swimming Robot,'' In: Proceeding of The 5th World Congress on Intelligent Control and Automation, pp. 4582-4586, Hang Zhou , P.R. China.