基于弹性脊柱的鱼类快速在线刚性调节机制

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Xiaocun Liao, Chao Zhou, Long Cheng, Jian Wang, J. Fan, Zhuoliang Zhang
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引用次数: 0

摘要

鱼类通过协调肌腱、肌肉和其他组织来调整鱼尾刚度,从而提高游泳性能。对于机器鱼而言,在大范围内实现快速、在线的鱼尾刚度调节对提高性能具有重要意义。本文提出了一种基于弹性脊柱的可变刚度机器鱼,它采用弹簧钢模拟鱼的脊柱,通过调整弹性脊柱的有效长度来调节刚度。刚度可在 0.26 秒内的最大可调范围内切换。为了通过调节鱼尾刚度优化机器鱼的运动性能,提出了一个基于 Kane 的动态模型,并在此基础上构建了多级游动的刚度调节策略。进行了仿真和实验,包括游泳速度、推力等方面的性能测量和分析,以及基于刚度调节的在线多级游泳,验证了所提出的可变刚度机器鱼的可行性。机器鱼的最大速度和最低运输成本分别为 0.43 m/s(相当于 0.81 BL/s)和 7.14 J/(kg-m)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming.
Fish tunes fishtail stiffness by coordinating its tendons, muscles, and other tissues to improve swimming performance. For robotic fish, achieving a fast and online fishlike stiffness adjustment over a large-scale range is of great significance for performance improvement. This article proposes an elastic-spine-based variable stiffness robotic fish, which adopts spring steel to emulate the fish spine, and its stiffness is adjusted by tuning the effective length of the elastic spine. The stiffness can be switched in the maximum adjustable range within 0.26 s. To optimize the motion performance of robotic fish by adjusting fishtail stiffness, a Kane-based dynamic model is proposed, based on which the stiffness adjustment strategy for multistage swimming is constructed. Simulations and experiments are conducted, including performance measurements and analyses in terms of swimming speed, thrust, and so on, and online stiffness adjustment-based multistage swimming, which verifies the feasibility of the proposed variable stiffness robotic fish. The maximum speed and lowest cost of transport for robotic fish are 0.43 m/s (equivalent to 0.81 BL/s) and 7.14 J/(kg·m), respectively.
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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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