Design and Modeling of a Sperm-Inspired Helical Propulsion Robot

doi:10.1109/LRA.2023.3324876

	Design and Modeling of a Sperm-Inspired Helical Propulsion Robot
	Deng, Liangwei 1,2; Zhou, Chao1,2 ; Wang, Jian1,2 ; Fan, Junfeng1,2 ; Liao, Xiaocun1,2 ; Zhu, Chunhui 1,2
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN	2377-3766
	2023-12-01
卷号	8 期号:12 页码:8168-8175
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn)
摘要	The development of biomimetics and the demand for higher propulsion efficiency lead to more research in helical propulsion robots. This letter presents a novel sperm-inspired robot that utilizes flexible tail as propulsion and analyzes the motion performance. Firstly, the robot's propulsion system is a center-fixed rotation mechanism that can accurately mimic the motion of the sperm tail. Secondly, based on resistance theory and Kirchhoff's rod theory, the dynamic model is established to analyse the propulsive performance. More importantly, it is found that the motion of helical propulsion can be divided into two models: roll and spin, and the allocation ratio of these two motions affects the propulsive performance. Thirdly, we introduce spoilers to alter the resistance of the head, thereby changing the allocation ratio of the roll and spin motion. Based on the proposed model, we conduct simulations and achieve optimization of spoiler size parameters. Finally, through experiments, the effectiveness of the robot is verified. Based on the optimization results of the spoilers, this robot can achieve propulsion with a maximum forward velocity of 12.78 cm/s.
关键词	Helical propulsion roll-spin motion sperm-inspired robot
DOI	10.1109/LRA.2023.3324876
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[62003341] ; National Nature Science Foundation of China[62203436] ; Youth Innovation Promotion Association of CAS[2022130] ; Young Elite Scientists Sponsorship Program of China Association of Science and Technology[YESS20210344]
项目资助者	National Nature Science Foundation of China ; Youth Innovation Promotion Association of CAS ; Young Elite Scientists Sponsorship Program of China Association of Science and Technology
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001099804600005
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/173211/55150
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 Intelli gence 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	Deng, Liangwei,Zhou, Chao,Wang, Jian,et al. Design and Modeling of a Sperm-Inspired Helical Propulsion Robot[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2023,8(12):8168-8175.
APA	Deng, Liangwei,Zhou, Chao,Wang, Jian,Fan, Junfeng,Liao, Xiaocun,&Zhu, Chunhui.(2023).Design and Modeling of a Sperm-Inspired Helical Propulsion Robot.IEEE ROBOTICS AND AUTOMATION LETTERS,8(12),8168-8175.
MLA	Deng, Liangwei,et al."Design and Modeling of a Sperm-Inspired Helical Propulsion Robot".IEEE ROBOTICS AND AUTOMATION LETTERS 8.12(2023):8168-8175.