Design?and analysis of a novel tendon-driven continuum robotic dolphin

doi:10.1088/1748-3190/ac2126

	Design?and analysis of a novel tendon-driven continuum robotic dolphin
	Liu,Jincun 1,2; Zhang,Chi 1,2; Liu,Zhenna 3; Zhao,Ran 1,2; An,Dong 1,2; Wei,Yaoguang 1,2; Wu,Zhengxing4 ; Yu,Junzhi 5
发表期刊	Bioinspiration & Biomimetics
ISSN	1748-3182
	2021-09-15
卷号	16 期号:6
通讯作者	Yu,Junzhi()
摘要	AbstractIn this paper, a novel continuum robotic dolphin termed ‘ConRoDolI’ is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin’s caudal vertebrae and thoracic vertebrae. More importantly, a central pattern generator based kinematics is analyzed to yield stable dolphin-like swimming. In the meantime, the relationship between the backbone shape and both the tendon length as well as position and orientation are explored. Furthermore, multimodal swimming gaits are designed to pave the way for a three-dimensional (3D) swimming decoupling solution, involving forwarding swimming, multiple yaw patterns, and multiple pitch patterns. All of these endow the robotic dolphin with 3D maneuverability. Finally, extensive experiments demonstrate the feasibility of the proposed biomimetic mechatronic design?and control approach. The forward swimming speed is 0.44 body lengths per second (BL/s). The steering radius of the robot is about 0.11 BL with an angular velocity of 10°/s and the diving speed is about 0.13 BL/s. The average propulsion efficiency is about 0.6 with the maximum is over 0.8. The obtained results shed light on the improvement of aquatic maneuverability associated with new-concept underwater vehicles.
关键词	biomimetics underwater vehicles robotic dolphin continuum robot
DOI	10.1088/1748-3190/ac2126
语种	英语
WOS记录号	IOP:1748-3182-16-6-ac2126
出版者	IOP Publishing
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45800
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Yu,Junzhi
作者单位	1.College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People’s Republic of China 2.National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People’s Republic of China 3.Shandong Labor Vocational and Technical College, Jinan 250022, People’s Republic of China 4.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People’s Republic of China 5.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, People’s Republic of China
推荐引用方式 GB/T 7714	Liu,Jincun,Zhang,Chi,Liu,Zhenna,et al. Design?and analysis of a novel tendon-driven continuum robotic dolphin[J]. Bioinspiration & Biomimetics,2021,16(6).
APA	Liu,Jincun.,Zhang,Chi.,Liu,Zhenna.,Zhao,Ran.,An,Dong.,...&Yu,Junzhi.(2021).Design?and analysis of a novel tendon-driven continuum robotic dolphin.Bioinspiration & Biomimetics,16(6).
MLA	Liu,Jincun,et al."Design?and analysis of a novel tendon-driven continuum robotic dolphin".Bioinspiration & Biomimetics 16.6(2021).