旋转游泳者:一种快速、高效、敏捷的鱼状机器人

IF 5.3 2区 计算机科学 Q2 ROBOTICS
Prashanth Chivkula;Phanindra Tallapragada
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引用次数: 0

摘要

设计水下机器人的工程师和科学家试图模仿鱼类的速度、效率和敏捷性。仿鱼机器人的大部分工程设计都简化为设计柔软的或铰接的多体尾巴,这些尾巴可以以与鱼相似的频率和幅度振荡或波动,以期达到它们的效率和速度。这种运动学方法没有考虑动力驱动、柔性附属物响应和水动力之间的动态相互作用。这封信提出了一种全新的机械驱动方式:在机器人体内安装一个快速旋转的不平衡转子,将周期性的轴向力传递给被动的柔性尾巴。最终的结果是,尾部作为一个参数振荡器,经历$2:1$次谐波共振。由于这种参数共振,以最小的输入功率实现了高尾拍频率。由此产生的机器人在自由游泳机器人中具有最低的运输成本,同时速度快,非常灵活,并且具有陀螺仪滚动和俯仰稳定性。结果表明,利用参数共振在设计高效的类鱼机器人中的重要性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Spin Swimmer : A Fast, Efficient and Agile Fish-Like Robot
Engineers and scientists designing underwater robots have sought to emulate the speed, efficiency, and agility of fish. Much of the engineering of fish-like robotics reduces to the design of soft or articulated multi-body tails that can oscillate or undulate at frequencies and amplitudes similar to those of the fish they seek to mimic in the hope of achieving their efficiency and speed. Such kinematic approaches do not account for the dynamic interaction between power efficient actuation, response of flexible appendages and hydrodynamic forces. This letter presents a fundamentally novel means of mechanical actuation: a fast spinning unbalanced rotor internal to the body of the robot, that transfers a periodic axial force to an otherwise passive flexible tail. The net result is that the tail acts as a parametric oscillator that undergoes a $2:1$ subharmonic resonance. High tail-beat frequencies are achieved with minimal input power due to this parametric resonance. The resulting robot has the lowest cost of transport amongst free swimming robots while also being fast, extremely agile and gyroscopically roll and pitch stable. The results demonstrate the importance of exploiting parametric resonances in designing efficient fish-like robots.
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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