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Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish

文献类型：期刊论文

作者Liao, Xiaocun1,2; Zhou, Chao1,2; Zou, Qianqian1,2; Wang, Jian1,2; Lu, Ben1,2
刊名IEEE ROBOTICS AND AUTOMATION LETTERS
出版日期2022-10-01
卷号7期号:4页码:11174-11181
关键词Elastic component Lagrangian dynamics robotic fish wire-driven mode
ISSN号2377-3766
DOI10.1109/LRA.2022.3197911
通讯作者Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要The complex and continuous undulation of fishtail facilitates extraordinary underwater motion performance for natural fish. For the widely used Multi-Joint robotic fish, a lot of joints are used to simulate continuum fishtail, resulting in some challenges, e.g., the mechanism complexity, friction losses of adjacent joints, load disequilibrium and unsmooth servomotor output power. To overcome these intractable hurdles, motivated by natural fish, this letter proposes a wire-driven elastic robotic fish, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Compared with the existing wire-driven robotic fish with discrete multiple-joints-spine and single-wire drive, our robotic fish not only has continuum fishtail, but also can swing with C-Shape and S-Shape owing to multi-wire coupling drive, and simulate the energy storage behavior of fish by elastic component. Further, a Lagrangian dynamic model that models a robotic fish with continuum fishtail and passive flexible joint is developed to explore the propulsive performance and validated by extensive experiments and simulations, and our robotic fish reaches the maximum swimming speed of 0.58 m/s, i.e., 1.04 BL/s. Finally, the superiority of the proposed drive mechanism in disposing of load disequilibrium and smoothing output power of servomotor, is analyzed and validated by the comparisons between a Multi-Joint robotic fish and our robotic fish.
资助项目National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[61903362] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[61973303]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000845062300018
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Nature Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/50044]  
专题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		 Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,et al. Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(4):11174-11181.
APA Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,Wang, Jian,&Lu, Ben.(2022).Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(4),11174-11181.
MLA Liao, Xiaocun,et al."Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.4(2022):11174-11181.

入库方式： OAI收割

来源：自动化研究所

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