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A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility | |
Liao, Xiaocun1,2![]() ![]() ![]() ![]() | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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ISSN | 1083-4435 |
2023-09-29 | |
页码 | 12 |
文章类型 | Research article |
摘要 | The extraordinary swimming performance of fish benefits from the complex motion of the continuum fishtail, which is difficult for robotic fish to replicate. The common approach is adopting a large number of discrete joints, which introduces some challenges, e.g., the redundant degrees of freedom, the friction loss of adjacent joints, etc. Hence, this article presents a robotic fish equipped with a wire-driven dual elastic fishtail with energy storing and passive flexibility. This fishtail consists of an active elastic fishtail and a passive flexible joint, both of which periodically store energy due to the elastic deformation, benefiting to improving the motor's output stability and swimming performance, respectively. Especially, fishtail automatically adapts to complicated fluid by passive flexibility. Differing from the existing robotic fish, the wire-driven mode is combined with an efficient transmission mechanism to improve transmission efficiency. Using the developed dynamic model, the fishtail's energy storing is analyzed, and fishtail's stiffness is optimized to obtain the expected swing and high swimming performance. Extensive simulations and experiments have been conducted to validate the proposed model, and our robotic fish is capable of a maximum speed of 0.92 m/s, i.e., 1.87 BL/s. |
关键词 | Robotic fish Energy storing Stiffness optimization Wire-driven mode Passive flexibility |
DOI | 10.1109/TMECH.2023.3318219 |
关键词[WOS] | Robotic fish ; Energy storing ; Stiffness optimization ; Wire-driven mode ; Passive flexibility |
URL | 查看原文 |
收录类别 | SCI ; SCIE |
所属项目编号 | 62033013,62003341,62203436 |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China |
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:001088286100001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/54308 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Zhou, Chao; Wang, Jian |
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 | Liao, Xiaocun,Zhou, Chao,Wang, Jian,et al. A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12. |
APA | Liao, Xiaocun,Zhou, Chao,Wang, Jian,&Tan, Min.(2023).A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
MLA | Liao, Xiaocun,et al."A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12. |
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