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
发表期刊IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN2377-3766
2022-10-01
卷号7期号:4页码:11174-11181
通讯作者Zhou, Chao(chao.zhou@ia.ac.cn)
摘要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.
关键词Elastic component Lagrangian dynamics robotic fish wire-driven mode
DOI10.1109/LRA.2022.3197911
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[61903362] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[61973303]
项目资助者National Nature Science Foundation of China
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000845062300018
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
被引频次:3[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/173211/50045
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
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
推荐引用方式
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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