弹性变刚度机器鱼尾的设计与建模

Chunhui Zhu, Liangwei Deng, Xiaofei Wang, Z. Yin, Chao Zhou
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引用次数: 0

摘要

近年来,鱼类因其独特的游泳能力吸引了大量的研究人员,许多模仿鱼类的推进机器人已经被制造出来。大量的研究表明,当鱼的尾巴以不同的频率跳动时,鱼通过调整身体的刚度来获得最佳的游泳速度和效率,但大多数当代机器鱼忽略了鱼身体的刚度。在这篇文章中,我们用弹性材料制作了一个鱼尾,它是由一个坚硬的硅胶圆柱体和圆柱体中有规则排列的几个球组成的。利用截面二次矩对梁刚度的影响,采用步进电机控制,通过挤压内弹性球来提高梁的总刚度,从而实现变刚度。在对系统进行建模和分析后,我们将其构建为由中空外筒和周期性非均质核心组成的复合悬臂梁。用显式公式计算了这种复杂梁的刚度。最后,为了实现较大的刚度提升,搭建了测试平台并进行了实验验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Modeling of Elastic Variable Stiffness Robotic Fish Tail
Fish have attracted a huge number of researchers in recent years due to their exceptional swimming abilities, and many imitation fish propulsion robots have been produced. Numerous studies have demonstrated that fish obtain the best swimming speed and efficiency by adjusting the stiffness of their bodies when the tail beats at different frequencies, yet most contemporary robotic fish neglect the stiffness of the fish body. In this article, we create a fishtail with elastic materials, which is combined with a hard silicone cylinder and several regularly arranged balls in the cylinder. We achieve changeable stiffness by squeezing the inner elastic balls to enhance total stiffness, which is controlled by a stepper motor, with the reason that second moments of cross section can influence the stiffness of beam. After modeling and analyzing the system, we build it into a composite cantilever beam made up of a hollow outer cylinder and a periodic heterogeneous core. The stiffness of this complicated beam is calculated using a explicitly formula. Finally, in order to achieve a considerable stiffness increase, we construct a test platform and undertake experimental verification.
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