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

X.S. Xu

State Key Laboratory of Structural Analysis for Industrial Equipment, Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, P. R. China

F.M. Sun

State Key Laboratory of Structural Analysis for Industrial Equipment, Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, P. R. China, sunfaming_2003{at}163.com

G.P. Wang

State Key Laboratory of Structural Analysis for Industrial Equipment, Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, P. R. China

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.

Key Words: GMM actuator • underwater robot • cantilever interlayer plate • optimization design.

This version was published on October 1, 2009

Journal of Vibration and Control, Vol. 15, No. 10, 1443-1462 (2009)
DOI: 10.1177/1077546308097264
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