The Control and Optimization Design of the Fish-like Underwater Robot with the Aid of the Giant Magnetostrictive Material Actuator

摘要

In this paper, the mechanism of the underwater fish-like robot, which is controlled by the giant magnetostrictive material actuator, is studied. A mechanical model of the robot is presented based on the relationship between the driving force and frequencies, which is controlled by external magnetic fields. At the same time, a new design project is given by optimizing structures and a two-tail fish-like robot is devised, in which the robot can swim directly forward and backward.