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

doi:10.1109/TMECH.2023.3318219

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 水下机器人

	A Wire-Driven Dual Elastic Fishtail With Energy Storing and Passive Flexibility
	Liao, Xiaocun 1,2; Zhou, Chao 1,2; Wang, Jian 1,2; Tan, Min 1,2
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2023-09-29
页码	12
关键词	Robots Springs Steel Robot kinematics Sports Wires Optimization Energy storing passive flexibility robotic fish stiffness optimization wire-driven mode
ISSN号	1083-4435
DOI	10.1109/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.
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关键词	ROBOTIC FISH ; OPTIMIZATION ; LOCOMOTION ; DESIGN ; BODY
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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54307]
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; 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.