中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish

文献类型:期刊论文

作者Li L; Lv J; Chen W; Wang W; Zhang X(张星); Xie GM
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2016
卷号13页码:102
通讯作者邮箱liatli@pku.edu.cn
关键词Concrete Sulfate attack Damage evolution Chemical reaction Ultrasonic technique
ISSN号1729-8806
产权排序[Li, Liang; Chen, Wang; Wang, Wei; Xie, Guangming] Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China; [Lv, Jiang] Lanzhou Jiaotong Univ, Coll Mech & Elect Engn, Dept Elect Engn, Lanzhou 730070, Peoples R China; [Zhang, Xing] Chinese Acad Sci, Inst Mech, State Key Lab Nonlinear Mech LNM, Beijing 100080, Peoples R China
通讯作者Li, L (reprint author), Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China.
中文摘要In this paper, we applied the Taguchi method to evaluate the maximum swimming speed of a robotic fish under the limitation of the output of the motor. Four factors were considered in the optimization: the caudal-fin aspect ratio, the caudal fin stiffness, the oscillating frequency and the stiffness of the spring that transmits forces from the actuators to the foil. Because of the power limitations, the parameter's space was irregular. Since the Taguchi method requires a regular parameter space, we divided the parameter space into a regular space and the remaining irregular spaces. Within only 25 trials, the frequency and the spring stiffness were determined as the main factors in the regular space by the orthogonal design. Six more trials were carried out in the remaining irregular space with a higher frequency and spring stiffness. The fastest swimming speed of 870 mm/s, approximately 2.6 BL (Body Lengths)/s, was acquired, when the frequency reached 12Hz and with infinite spring stiffness. This method is efficient for exploring the maximum locomotor capabilities of robotic fish and may also be useful for other robots as no modelling is required.
分类号Q4
类目[WOS]Robotics
研究领域[WOS]Robotics
关键词[WOS]Concrete ; Sulfate attack ; Damage evolution ; Chemical reaction ; Ultrasonic technique
收录类别SCI ; EI
原文出处http://dx.doi.org/10.5772/64039
语种英语
WOS记录号WOS:000377333100003
源URL[http://dspace.imech.ac.cn/handle/311007/59533]  
专题力学研究所_非线性力学国家重点实验室
推荐引用方式
GB/T 7714
Li L,Lv J,Chen W,et al. Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:102.
APA Li L,Lv J,Chen W,Wang W,张星,&Xie GM.(2016).Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,102.
MLA Li L,et al."Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):102.

入库方式: OAI收割

来源:力学研究所

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