Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism
文献类型：期刊论文
| 作者 | Wang, Xiaofei1,2 ; Zhou, Chao1,2; Wang, Jian1,2; Fan, Junfeng1,2; Zhang, Zhuoliang1,2; Tan, Min1,2
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2023-10-02 |
| 页码 | 11 |
| ISSN号 | 1083-4435 |
| 关键词 | Biomimetic robot composite mechanism passive propulsion |
| DOI | 10.1109/TMECH.2023.3315681 |
| 通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn) |
| 英文摘要 | Motivated by the high maneuverability and low power consumption requirements, using elastic components in the joints of robotic fish can improve thrust production and efficiency. However, the propulsive performance of the elastic mechanism cannot be satisfied over a wide range of frequencies. First, this article develops a robotic tuna with a novel passive flexible joint structure, which combines with the compliance features of the elastic component and the damper, so as to maintain an ideal amplitude and phase difference of the caudal fin, resulting in better swimming performance over multifrequency ranges. Moreover, a dynamic model for the robotic tuna is established based on Kane method. Thrust characteristic calculation and computational fluid dynamics method are applied to analyze the propulsion and vorticity characteristics. Simulated results show that the composite mechanism generates higher thrust production and stronger vortex structures. Finally, simulations and experiments validate the effectiveness of the proposed method. Experimental results demonstrate that the robotic tuna can achieve a maximum speed of 1.21 m/s (equivalent to 2.24 body lengths per second) and minimum cost of transport of 45.67 J/(m |
| WOS关键词 | DRIVEN ; DESIGN ; BODY ; FISH |
| 资助项目 | National Natural Science Foundation of China[62373354] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[62203436] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001082421600001 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52965]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Zhou, Chao; Fan, Junfeng |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence 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 | Wang, Xiaofei,Zhou, Chao,Wang, Jian,et al. Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:11. |
| APA | Wang, Xiaofei,Zhou, Chao,Wang, Jian,Fan, Junfeng,Zhang, Zhuoliang,&Tan, Min.(2023).Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11. |
| MLA | Wang, Xiaofei,et al."Toward Propulsive Performance Evaluation of a Robotic Tuna Based on the Damping-Elastic Composite Mechanism".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):11. |
入库方式： OAI收割
来源：自动化研究所
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