A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility | |
Liao, Xiaocun1,2; Zhou, Chao1,2; Wang, Jian1,2; Tan, Min1,2 | |
刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2023-09-29 | |
页码 | 12 |
关键词 | Robots Springs Steel Robot kinematics Sports Wires Optimization Energy storing passive flexibility robotic fish stiffness optimization wire-driven mode |
ISSN号 | 1083-4435 |
DOI | 10.1109/TMECH.2023.3318219 |
通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) ; Wang, Jian(jianwang@ia.ac.cn) |
英文摘要 | The extraordinary swimming performance of fish benefits from the complex motion of the continuum fishtail, which is difficult for robotic fish to replicate. The common approach is adopting a large number of discrete joints, which introduces some challenges, e.g., the redundant degrees of freedom, the friction loss of adjacent joints, etc. Hence, this article presents a robotic fish equipped with a wire-driven dual elastic fishtail with energy storing and passive flexibility. This fishtail consists of an active elastic fishtail and a passive flexible joint, both of which periodically store energy due to the elastic deformation, benefiting to improving the motor's output stability and swimming performance, respectively. Especially, fishtail automatically adapts to complicated fluid by passive flexibility. Differing from the existing robotic fish, the wire-driven mode is combined with an efficient transmission mechanism to improve transmission efficiency. Using the developed dynamic model, the fishtail's energy storing is analyzed, and fishtail's stiffness is optimized to obtain the expected swing and high swimming performance. Extensive simulations and experiments have been conducted to validate the proposed model, and our robotic fish is capable of a maximum speed of 0.92 m/s, i.e., 1.87 BL/s. |
资助项目 | National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[62203436] |
WOS关键词 | ROBOTIC FISH ; OPTIMIZATION ; LOCOMOTION ; DESIGN ; BODY |
WOS研究方向 | Automation & Control Systems ; Engineering |
语种 | 英语 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS记录号 | WOS:001088286100001 |
资助机构 | National Natural Science Foundation of China |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/54307] |
专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
通讯作者 | Zhou, Chao; Wang, Jian |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Liao, Xiaocun,Zhou, Chao,Wang, Jian,et al. A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12. |
APA | Liao, Xiaocun,Zhou, Chao,Wang, Jian,&Tan, Min.(2023).A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
MLA | Liao, Xiaocun,et al."A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12. |
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