Design and Modeling of a Sperm-Inspired Helical Propulsion Robot
文献类型：期刊论文
| 作者 | Deng, Liangwei1,2; Zhou, Chao1,2 ; Wang, Jian1,2; Fan, Junfeng1,2; Liao, Xiaocun1,2; Zhu, Chunhui1,2
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2023-12-01 |
| 卷号 | 8期号:12页码:8168-8175 |
| 关键词 | Helical propulsion roll-spin motion sperm-inspired robot |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2023.3324876 |
| 通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn) |
| 英文摘要 | The development of biomimetics and the demand for higher propulsion efficiency lead to more research in helical propulsion robots. This letter presents a novel sperm-inspired robot that utilizes flexible tail as propulsion and analyzes the motion performance. Firstly, the robot's propulsion system is a center-fixed rotation mechanism that can accurately mimic the motion of the sperm tail. Secondly, based on resistance theory and Kirchhoff's rod theory, the dynamic model is established to analyse the propulsive performance. More importantly, it is found that the motion of helical propulsion can be divided into two models: roll and spin, and the allocation ratio of these two motions affects the propulsive performance. Thirdly, we introduce spoilers to alter the resistance of the head, thereby changing the allocation ratio of the roll and spin motion. Based on the proposed model, we conduct simulations and achieve optimization of spoiler size parameters. Finally, through experiments, the effectiveness of the robot is verified. Based on the optimization results of the spoilers, this robot can achieve propulsion with a maximum forward velocity of 12.78 cm/s. |
| 资助项目 | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[62203436] ; Youth Innovation Promotion Association of CAS[2022130] ; Young Elite Scientists Sponsorship Program of China Association of Science and Technology[YESS20210344] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001099804600005 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Nature Science Foundation of China ; Youth Innovation Promotion Association of CAS ; Young Elite Scientists Sponsorship Program of China Association of Science and Technology |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55149]  |
| 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 Intelli gence 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 | Deng, Liangwei,Zhou, Chao,Wang, Jian,et al. Design and Modeling of a Sperm-Inspired Helical Propulsion Robot[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2023,8(12):8168-8175. |
| APA | Deng, Liangwei,Zhou, Chao,Wang, Jian,Fan, Junfeng,Liao, Xiaocun,&Zhu, Chunhui.(2023).Design and Modeling of a Sperm-Inspired Helical Propulsion Robot.IEEE ROBOTICS AND AUTOMATION LETTERS,8(12),8168-8175. |
| MLA | Deng, Liangwei,et al."Design and Modeling of a Sperm-Inspired Helical Propulsion Robot".IEEE ROBOTICS AND AUTOMATION LETTERS 8.12(2023):8168-8175. |
入库方式： OAI收割
来源：自动化研究所
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