中文摘要：

针对管道中微小型机器人的研究和开发,提出一种利用外磁场驱动超小型机器鱼的研究方法.采用合金薄板模拟鱼尾骨架,贴在该薄板的超磁致伸缩材料模拟鱼体肌肉,建立了该问题的力学模型.通过研究机器鱼的游动机理,设计了一种机器鱼的超磁动力驱动器（GMMA）.利用调整外界磁场频率,实现神经模拟以控制鱼尾摆动,即机器鱼的游动.结果表明,鱼尾摆动平均驱动力的大小取决于鱼尾的材料参数、几何参数和外磁场频率.特别是当外磁场频率接近系统固有频率时,该驱动力相对较大,该结论可作为鱼尾设计和控制的主要思路和依据.

英文摘要：

For the subject of the research and exploitation on microminiature robots,a new analytical method is presented for a subminiature robot fish,which is controlled by external magnetic fields.In the method,the alloy sheet is simulated as the framework of the fishtail and the giant magnetostrictive material（GMM）,which is attached to the sheet as the muscle of fish.In this wise,the mechanics model is given.Based on studying the mechanism of fish swimming,GMM actuator（GMMA）of the robot fish is devised and can be simulated as the nervous system to control the swing of the fishtail,or fish swimming by the external magnetic field.Results show that the average propulsion depends upon material constants,geometrical parameters and the frequency of the magnetic field.Especially,the propulsion is larger when the frequencies of the external magnetic field are close to the natural frequencies of the system.This conclusion can be used for the primary idea to control and drive the fishtail of the robot fish.