中文摘要：

研制了以超磁致伸缩薄膜为驱动器的仿生游动微型机器人，其作业原理是以超磁致伸缩薄膜驱动器为尾鳍，通过改变时变振荡磁场的驱动频率，在超磁致伸缩薄膜的磁机耦合作用下，将时变振荡磁场能转换成驱动器的振动机械能。振动的超磁致伸缩薄膜驱动器再与液体耦合，便产生了机器人的推力．由于超磁致伸缩薄膜为非接触式驱动，因此机器人不需要电缆驱动．基于仿生游动原理，提出一种计算推力的数学模型，以建立的超磁致伸缩薄膜受追振动模型的前三阶谐振频率模态为尾鳍的摆动，对振动薄膜产生的推力进行了计算．实验验证了理论分析的正确性，表明仿生游动微型机器人的方案切实可行．

英文摘要：

A micro biomimetic swimming robot based on Giant Magnetostrictive thin Film （GMF） actuator is developed. When time varying oscillating magnetic field with different frequencies is externally applied, this robot converts magnetic en- ergy into mechanical vibration of its GMF actuator, which acts as a fish caudal fin under the action of magneto mechanical coupling of its GMF, therefore propulsive force is generated through the coupling between vibrating GFM and liquid. For the reason that GFM is driven in a non-contact way, the robot is driven wirelessly. Based on biomimetlc swimming principle, a mathematical model for calculating propulsive force is proposed, based on which propulsive forces are calculated respectively where the mode shapes of our established GFM forced oscillation model at the fimt three order resonance frequencies are used as swing motion of the caudal fin. Experiments show the validity of the theoretical analysis and the feasibility of the research proposal on micro biomimetic swimming robot.