Development of a Low-cost Soft Robot Fish with Biomimetic Swimming Performance

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-25 DOI:10.1115/1.4063037

Ting Zou, Xinyu Jian, M. Al-Tamimi, Xing Wu, Jing Wu

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Abstract

This paper investigates the methodology and techniques for a soft biomimetic robot fish that has a straightforward design, relatively simple fabrication, and low cost. In addition to the investigations of fabrication techniques, we also explore the numerical analysis of the biological fish swimming performance, with its inspiration for robot fish design, which is less studied in the literature. In this research, therefore, various swimming locomotion patterns within the BCF (body and/or caudal fin) family are analyzed for kinematics & hydrodynamics using analytical methods and CFD (computational fluid dynamics) to inspire the robot fish design for improved swimming performance. Via straightforward design and fabrication, the swimming performance of the numerical robot fish is verified by means of simulation using 3D CFD and the prototype performance is validated using in-water experimental tests. This study showcases a new easy-to-design and easy-to-fabricate robust biomimetic robot fish with comparable swimming performance, which has good potential for purposes like education, research, and entertainment.

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具有仿生游泳性能的低成本软体机器鱼的研制

本文研究了一种设计简单、制作相对简单、成本较低的软体仿生机器鱼的方法和技术。除了研究制造技术外，我们还探索了生物鱼游泳性能的数值分析，并为机器鱼的设计提供了灵感，这在文献中研究较少。因此，在本研究中，利用分析方法和计算流体动力学(CFD)对BCF(身体和/或尾鳍)家族中的各种游泳运动模式进行运动学和流体动力学分析，以启发机器鱼的设计，以提高游泳性能。通过简单的设计和制作，通过三维CFD仿真验证了数值机器鱼的游泳性能，并通过水中实验验证了原型机的性能。本研究展示了一种易于设计和制造的新型仿生机器鱼，具有相当的游泳性能，具有良好的教育、研究和娱乐用途。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.