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

灵活性(工程) 工程类 刚度 传输(电信) 电力传输 能量(信号处理) 结构工程 机械工程 电气工程 物理 数学 量子力学 统计
作者
Xiaocun Liao,Chao Zhou,Jian Wang,Min Tan
出处
期刊:IEEE-ASME Transactions on Mechatronics [Institute of Electrical and Electronics Engineers]
卷期号:: 1-12
标识
DOI:10.1109/tmech.2023.3318219
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.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
LJJ发布了新的文献求助10
1秒前
3秒前
英俊的铭应助qqq采纳,获得10
3秒前
Xw完成签到,获得积分10
4秒前
4秒前
量子星尘发布了新的文献求助10
5秒前
ChatGPT发布了新的文献求助10
5秒前
6秒前
6秒前
暴躁的嘉懿完成签到,获得积分10
8秒前
龙傲天完成签到 ,获得积分10
8秒前
hhh发布了新的文献求助10
9秒前
小杨完成签到,获得积分10
11秒前
风华正茂完成签到,获得积分10
12秒前
康康完成签到 ,获得积分10
14秒前
柒z完成签到,获得积分10
16秒前
赘婿应助momo采纳,获得10
20秒前
油点小鳄完成签到,获得积分20
23秒前
24秒前
24秒前
桐桐应助wish采纳,获得10
25秒前
26秒前
桐桐应助百十余采纳,获得10
29秒前
义气如萱发布了新的文献求助10
29秒前
29秒前
30秒前
小二郎应助KM比比采纳,获得10
31秒前
不能吃了发布了新的文献求助10
31秒前
李健的粉丝团团长应助LJJ采纳,获得10
32秒前
33秒前
34秒前
体贴绝音发布了新的文献求助10
34秒前
35秒前
丘比特应助sakegeda采纳,获得10
37秒前
38秒前
wish发布了新的文献求助10
38秒前
不能吃了完成签到,获得积分10
39秒前
39秒前
40秒前
42秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
‘Unruly’ Children: Historical Fieldnotes and Learning Morality in a Taiwan Village (New Departures in Anthropology) 400
Indomethacinのヒトにおける経皮吸収 400
Phylogenetic study of the order Polydesmida (Myriapoda: Diplopoda) 370
基于可调谐半导体激光吸收光谱技术泄漏气体检测系统的研究 350
Robot-supported joining of reinforcement textiles with one-sided sewing heads 320
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3989334
求助须知:如何正确求助?哪些是违规求助? 3531428
关于积分的说明 11253936
捐赠科研通 3270119
什么是DOI,文献DOI怎么找? 1804887
邀请新用户注册赠送积分活动 882087
科研通“疑难数据库(出版商)”最低求助积分说明 809173