| Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish | |
Liao, Xiaocun1,2 ; Zhou, Chao1,2; Zou, Qianqian1,2; Wang, Jian1,2; Lu, Ben1,2
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| Source Publication | IEEE ROBOTICS AND AUTOMATION LETTERS
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| ISSN | 2377-3766 |
| 2022-10-01 | |
| Volume | 7Issue:4Pages:11174-11181 |
| Corresponding Author | Zhou, Chao(chao.zhou@ia.ac.cn) |
| Abstract | The complex and continuous undulation of fishtail facilitates extraordinary underwater motion performance for natural fish. For the widely used Multi-Joint robotic fish, a lot of joints are used to simulate continuum fishtail, resulting in some challenges, e.g., the mechanism complexity, friction losses of adjacent joints, load disequilibrium and unsmooth servomotor output power. To overcome these intractable hurdles, motivated by natural fish, this letter proposes a wire-driven elastic robotic fish, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Compared with the existing wire-driven robotic fish with discrete multiple-joints-spine and single-wire drive, our robotic fish not only has continuum fishtail, but also can swing with C-Shape and S-Shape owing to multi-wire coupling drive, and simulate the energy storage behavior of fish by elastic component. Further, a Lagrangian dynamic model that models a robotic fish with continuum fishtail and passive flexible joint is developed to explore the propulsive performance and validated by extensive experiments and simulations, and our robotic fish reaches the maximum swimming speed of 0.58 m/s, i.e., 1.04 BL/s. Finally, the superiority of the proposed drive mechanism in disposing of load disequilibrium and smoothing output power of servomotor, is analyzed and validated by the comparisons between a Multi-Joint robotic fish and our robotic fish. |
| Keyword | Elastic component Lagrangian dynamics robotic fish wire-driven mode |
| DOI | 10.1109/LRA.2022.3197911 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[61903362] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[61973303] |
| Funding Organization | National Nature Science Foundation of China |
| WOS Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000845062300018 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/50045 |
| Collection | 复杂系统管理与控制国家重点实验室_水下机器人 |
| Corresponding Author | Zhou, Chao |
| Affiliation | 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 |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation GB/T 7714 | Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,et al. Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(4):11174-11181. |
| APA | Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,Wang, Jian,&Lu, Ben.(2022).Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(4),11174-11181. |
| MLA | Liao, Xiaocun,et al."Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.4(2022):11174-11181. |
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