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A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility

文献类型：期刊论文

作者Liao, Xiaocun1,2; Zhou, Chao1,2; Wang, Jian1,2; Tan, Min1,2
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2023-09-29
页码12
ISSN号1083-4435
关键词Robots Springs Steel Robot kinematics Sports Wires Optimization Energy storing passive flexibility robotic fish stiffness optimization wire-driven mode
DOI10.1109/TMECH.2023.3318219
通讯作者Zhou, Chao(chao.zhou@ia.ac.cn) ; Wang, Jian(jianwang@ia.ac.cn)
英文摘要The extraordinary swimming performance of fish benefits from the complex motion of the continuum fishtail, which is difficult for robotic fish to replicate. The common approach is adopting a large number of discrete joints, which introduces some challenges, e.g., the redundant degrees of freedom, the friction loss of adjacent joints, etc. Hence, this article presents a robotic fish equipped with a wire-driven dual elastic fishtail with energy storing and passive flexibility. This fishtail consists of an active elastic fishtail and a passive flexible joint, both of which periodically store energy due to the elastic deformation, benefiting to improving the motor's output stability and swimming performance, respectively. Especially, fishtail automatically adapts to complicated fluid by passive flexibility. Differing from the existing robotic fish, the wire-driven mode is combined with an efficient transmission mechanism to improve transmission efficiency. Using the developed dynamic model, the fishtail's energy storing is analyzed, and fishtail's stiffness is optimized to obtain the expected swing and high swimming performance. Extensive simulations and experiments have been conducted to validate the proposed model, and our robotic fish is capable of a maximum speed of 0.92 m/s, i.e., 1.87 BL/s.
WOS关键词ROBOTIC FISH ; OPTIMIZATION ; LOCOMOTION ; DESIGN ; BODY
资助项目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:001088286100001
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/54307]  
专题复杂系统认知与决策实验室
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; Wang, Jian
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Liao, Xiaocun,Zhou, Chao,Wang, Jian,et al. A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12.
APA Liao, Xiaocun,Zhou, Chao,Wang, Jian,&Tan, Min.(2023).A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA Liao, Xiaocun,et al."A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12.

入库方式： OAI收割

来源：自动化研究所

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