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
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| 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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