Development and Stiffness Optimization for a Flexible-Tail Robotic Fish
文献类型：期刊论文
| 作者 | Lu, Ben1,2 ; Zhou, Chao1,2; Wang, Jian1,2; Fu, Yuzhuo1,2; Cheng, Long1,2; Tan, Min1,2
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2022-04-01 |
| 卷号 | 7期号:2页码:834-841 |
| 关键词 | Biomimetics biologically-inspired robots mechanism design |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2021.3134748 |
| 通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) |
| 英文摘要 | The integral flexible tail has the potential advantage of lifelike undulating motion. However, due to the complex manufacturing process and difficult modification of structural parameters, its application in robotic fish encounters many challenges. Combining rigid structure and flexible material, this letter proposes a passive flexible fish tail, which can achieve continuous movement and high swimming frequency with simple but effective structure. First, with the full consideration of bending deformation of the spring steels, a dynamic model is established. Next, a passive fitting method is particularly applied to imitate the traveling wave model of the carangiform fish. More importantly, a calculation model, which can be used to acquire the theoretical ranges of the stiffness of spring steels, is derived based on the bending model of the cantilever beam subjected to the concentrated force and moment. Finally, the extensive simulation and experiments validate the effectiveness of the proposed methods, and the designed robotic fish can achieve 0.77 m/s (i.e., 1.12 BL/s) at a swimming frequency of 2.5 Hz. The obtained results can provide a valuable sight for improving the swimming performance of the robotic fish. |
| WOS关键词 | LOCOMOTION |
| 资助项目 | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62025307] ; National Nature Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[4192060] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000733213200006 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Nature Science Foundation of China ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/47010]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Zhou, Chao |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Lu, Ben,Zhou, Chao,Wang, Jian,et al. Development and Stiffness Optimization for a Flexible-Tail Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):834-841. |
| APA | Lu, Ben,Zhou, Chao,Wang, Jian,Fu, Yuzhuo,Cheng, Long,&Tan, Min.(2022).Development and Stiffness Optimization for a Flexible-Tail Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),834-841. |
| MLA | Lu, Ben,et al."Development and Stiffness Optimization for a Flexible-Tail Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):834-841. |
入库方式： OAI收割
来源：自动化研究所
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