Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism

doi:10.1109/TMECH.2023.3315681

	Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism
	Wang, Xiaofei1,2 ; Zhou, Chao1,2 ; Wang, Jian1,2 ; Fan, Junfeng1,2 ; Zhang, Zhuoliang1,2 ; Tan, Min1,2
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2023-10-02
页码	11
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn)
摘要	Motivated by the high maneuverability and low power consumption requirements, using elastic components in the joints of robotic fish can improve thrust production and efficiency. However, the propulsive performance of the elastic mechanism cannot be satisfied over a wide range of frequencies. First, this article develops a robotic tuna with a novel passive flexible joint structure, which combines with the compliance features of the elastic component and the damper, so as to maintain an ideal amplitude and phase difference of the caudal fin, resulting in better swimming performance over multifrequency ranges. Moreover, a dynamic model for the robotic tuna is established based on Kane method. Thrust characteristic calculation and computational fluid dynamics method are applied to analyze the propulsion and vorticity characteristics. Simulated results show that the composite mechanism generates higher thrust production and stronger vortex structures. Finally, simulations and experiments validate the effectiveness of the proposed method. Experimental results demonstrate that the robotic tuna can achieve a maximum speed of 1.21 m/s (equivalent to 2.24 body lengths per second) and minimum cost of transport of 45.67 J/(mkg).
关键词	Biomimetic robot composite mechanism passive propulsion
DOI	10.1109/TMECH.2023.3315681
关键词[WOS]	DRIVEN ; DESIGN ; BODY ; FISH
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62373354] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[62203436]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:001082421600001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/52966
专题	复杂系统认知与决策实验室
通讯作者	Zhou, Chao; Fan, Junfeng
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence 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	Wang, Xiaofei,Zhou, Chao,Wang, Jian,et al. Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:11.
APA	Wang, Xiaofei,Zhou, Chao,Wang, Jian,Fan, Junfeng,Zhang, Zhuoliang,&Tan, Min.(2023).Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA	Wang, Xiaofei,et al."Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):11.