Development and Stiffness Optimization for a Flexible-Tail Robotic Fish
Lu, Ben1,2; Zhou, Chao1,2; Wang, Jian1,2; Fu, Yuzhuo1,2; Cheng, Long1,2; Tan, Min1,2
发表期刊IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN2377-3766
2022-04-01
卷号7期号:2页码:834-841
通讯作者Zhou, Chao(chao.zhou@ia.ac.cn)
摘要The integral flexible tail has the potential advantage of lifelike undulating motion. However, due to the complex manufacturing process and difficult modification of structural parameters, its application in robotic fish encounters many challenges. Combining rigid structure and flexible material, this letter proposes a passive flexible fish tail, which can achieve continuous movement and high swimming frequency with simple but effective structure. First, with the full consideration of bending deformation of the spring steels, a dynamic model is established. Next, a passive fitting method is particularly applied to imitate the traveling wave model of the carangiform fish. More importantly, a calculation model, which can be used to acquire the theoretical ranges of the stiffness of spring steels, is derived based on the bending model of the cantilever beam subjected to the concentrated force and moment. Finally, the extensive simulation and experiments validate the effectiveness of the proposed methods, and the designed robotic fish can achieve 0.77 m/s (i.e., 1.12 BL/s) at a swimming frequency of 2.5 Hz. The obtained results can provide a valuable sight for improving the swimming performance of the robotic fish.
关键词Biomimetics biologically-inspired robots mechanism design
DOI10.1109/LRA.2021.3134748
关键词[WOS]LOCOMOTION
收录类别SCI
语种英语
资助项目National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62025307] ; National Nature Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[4192060]
项目资助者National Nature Science Foundation of China ; Beijing Natural Science Foundation
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000733213200006
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类智能机器人
引用统计
被引频次:10[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/47011
专题复杂系统管理与控制国家重点实验室_先进机器人
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
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
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GB/T 7714
Lu, Ben,Zhou, Chao,Wang, Jian,et al. Development and Stiffness Optimization for a Flexible-Tail Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):834-841.
APA Lu, Ben,Zhou, Chao,Wang, Jian,Fu, Yuzhuo,Cheng, Long,&Tan, Min.(2022).Development and Stiffness Optimization for a Flexible-Tail Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),834-841.
MLA Lu, Ben,et al."Development and Stiffness Optimization for a Flexible-Tail Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):834-841.
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