Tail-stiffness optimization for a flexible robotic fish
文献类型：期刊论文
| 作者 | Zou, Qianqian1,2 ; Zhou, Chao1; Lu, Ben1,2; Liao, Xiaocun1,2; Zhang, Zhuoliang1,2
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| 刊名 | BIOINSPIRATION & BIOMIMETICS
 |
| 出版日期 | 2022-11-01 |
| 卷号 | 17期号:6页码:12 |
| 关键词 | robotic fish stiffness optimization flexible joint dynamic modeling |
| ISSN号 | 1748-3182 |
| DOI | 10.1088/1748-3190/ac84b6 |
| 通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) |
| 英文摘要 | Undulation regulation in a robotic fish propelled by a passive flexible tail is more similar to that of a natural fish than with a rigid tail, owing to the smooth curvature of the flexible tail. Moreover, it has been observed that fish change the stiffness of their bodies to adapt to various swimming states. Inspired by this, a stiffness optimization scheme is explored for a novel elastic tail, which can improve the performance of the robotic fish. Spring steels are used as passive flexible joints of the fishtail; these can be easily expanded into multi-joint structures and the joint stiffness can be altered by changing the joint size. In this study, the Lagrangian dynamic method is employed to establish a dynamic model of the robotic fish in which passive flexible joints are simplified by a pseudo-rigid-body model. In addition, the hydrodynamics of the head and tail are analyzed using the simplified Morison equation and quasi-steady wing theory, respectively. Furthermore, to determine unknown hydrodynamic parameters in the dynamic model, a parameter identification method is applied. The results show that the identified simulation speeds fit the experimental speeds well within a wide range of stiffness values. Finally, to improve performance, the influence of joint stiffness and frequency on swimming speed is investigated based on the identified dynamic model. At each frequency, the optimal joint stiffness distribution is one that reduces the stiffness from the front to the rear. At the maximum driving frequency of 2.5 Hz, the optimal swimming speed is 0.3 body lengths per second, higher than that when rigid joints are used. |
| WOS关键词 | LOCOMOTION ; BODY ; DESIGN ; MODELS |
| 资助项目 | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[61903362] |
| WOS研究方向 | Engineering ; Materials Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000852868500001 |
| 出版者 | IOP Publishing Ltd |
| 资助机构 | National Nature Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/50092]  |
| 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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zou, Qianqian,Zhou, Chao,Lu, Ben,et al. Tail-stiffness optimization for a flexible robotic fish[J]. BIOINSPIRATION & BIOMIMETICS,2022,17(6):12. |
| APA | Zou, Qianqian,Zhou, Chao,Lu, Ben,Liao, Xiaocun,&Zhang, Zhuoliang.(2022).Tail-stiffness optimization for a flexible robotic fish.BIOINSPIRATION & BIOMIMETICS,17(6),12. |
| MLA | Zou, Qianqian,et al."Tail-stiffness optimization for a flexible robotic fish".BIOINSPIRATION & BIOMIMETICS 17.6(2022):12. |
入库方式： OAI收割
来源：自动化研究所
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