用振动马达驱动仿生鳍，实现微型无人水下机器鱼的高效推进。
Harnessing the Power of Vibration Motors to Develop Miniature Untethered Robotic Fishes
- 用偏心旋转质量振动马达激发仿生鳍，产生高频单向振荡推动前进。
- 最大前进速度达1.36体长/秒，单鳍驱动时最小转弯半径为0.6体长。
- 结构紧凑无外接传动系统，适合深海、狭小空间等复杂环境探索。
微型水下机器人在资源勘探中具有关键作用，尤其适用于狭小空间与高压深海环境。本文设计并优化了一种由仿生鳍驱动的微型机器鱼，其鳍采用刚柔混合结构，以偏心旋转质量（ERM）振动马达为激励源，产生高频单向振荡，诱导声流实现推进。该驱动方式无需复杂机械传动系统，可完全隔离驱动部件与外部环境，有利于机器鱼小型化。研制的机器鱼尺寸为85×60×45 mm³，配备位于胸鳍和尾部位置的三片仿生鳍。实验结果表明，全鳍驱动时最大前进速度可达1.36体长/秒，单鳍驱动时最小转弯半径为0.6体长。这些成果验证了ERM振动马达在提升微型无人水下机器人机动性方面的价值，适用于多种海洋探测任务。
原文摘要 · Abstract (English)
Miniature underwater robots play a crucial role in the exploration and development of marine resources, particularly in confined spaces and high-pressure deep-sea environments. This study presents the design, optimization, and performance of a miniature robotic fish, powered by the oscillation of bio-inspired fins. These fins feature a rigid-flexible hybrid structure and use an eccentric rotating mass (ERM) vibration motor as the excitation source to generate high-frequency unidirectional oscillations that induce acoustic streaming for propulsion. The drive mechanism, powered by miniature ERM vibration motors, eliminates the need for complex mechanical drive systems, enabling complete isolation of the entire drive system from the external environment and facilitating the miniaturization of the robotic fish. A compact, untethered robotic fish, measuring 85*60*45 mm^3, is equipped with three bio-inspired fins located at the pectoral and caudal positions. Experimental results demonstrate that the robotic fish achieves a maximum forward swimming speed of 1.36 body lengths (BL) per second powered by all fins and minimum turning radius of 0.6 BL when powered by a single fin. These results underscore the significance of employing the ERM vibration motor in advancing the development of highly maneuverable, miniature untethered underwater robots for various marine exploration tasks.
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