标题： 利用振动马达的力量开发微型无缆机器人鱼 显示英文标题

标题： Harnessing the Power of Vibration Motors to Develop Miniature Untethered Robotic Fishes

摘要： 微型水下机器人在海洋资源的勘探和开发中起着至关重要的作用，特别是在狭窄空间和高压深海环境中。 本研究介绍了由仿生鳍振荡驱动的微型机器鱼的设计、优化和性能。 这些鳍具有刚柔混合结构，并使用偏心旋转质量（ERM）振动电机作为激励源，产生高频单向振荡，从而引发声流以实现推进。 驱动机构由微型ERM振动电机驱动，消除了对复杂机械传动系统的需求，使整个驱动系统与外部环境完全隔离，并有助于机器鱼的微型化。 一种紧凑的无缆机器鱼，尺寸为85*60*45 mm^3，配备三个位于胸鳍和尾鳍位置的仿生鳍。 实验结果表明，该机器鱼在所有鳍驱动时的最大前进速度为1.36个体长（BL）每秒，在仅由一个鳍驱动时的最小转弯半径为0.6 BL。 这些结果突显了在推进高度灵活、微型无缆水下机器人的发展中采用ERM振动电机的重要性，以用于各种海洋勘探任务。 显示英文摘要

摘要： 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.