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A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility
Liao, Xiaocun1,2; Zhou, Chao1,2; Wang, Jian1,2; Tan, Min1,2
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2023-09-29
Pages12
SubtypeResearch article
Abstract

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.

KeywordRobotic fish Energy storing Stiffness optimization Wire-driven mode Passive flexibility
DOI10.1109/TMECH.2023.3318219
WOS KeywordRobotic fish ; Energy storing ; Stiffness optimization ; Wire-driven mode ; Passive flexibility
URL查看原文
Indexed BySCI ; SCIE
Project Number62033013,62003341,62203436
Language英语
Funding ProjectNational Natural Science Foundation of China
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:001088286100001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
IS Representative Paper
Sub direction classification智能机器人
planning direction of the national heavy laboratory水下仿生机器人
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/54308
Collection复杂系统认知与决策实验室_水下机器人
Corresponding AuthorZhou, Chao; Wang, Jian
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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