Efficient aquatic locomotion using elastic propulsors with hybrid actuation
Efficient aquatic locomotion using elastic propulsors with hybrid actuation
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DOI：
10.1017/jfm.2021.558
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发表时间：
2021-07
影响因子：
3.7
通讯作者：
E. Demirer;O. A. Oshinowo;A. Alexeev
中科院分区：
文献类型：
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作者：
E. Demirer;O. A. Oshinowo;A. Alexeev
摘要利用计算模型，我们探讨了一个生物启发的弹性推进器与混合驱动，在牛顿流体中的共振振荡的流体动力学。推进器由基座处的起伏运动和沿推进器长度沿着分布的内部弯曲力矩致动。仿真结果表明，通过调整外部和内部驱动之间的相位差，推进器推力和自由游动速度可以在很大范围内调节，同时保持高效率。此外，混合推进器优于具有任一致动方法的推进器。增强的性能与新兴的弯曲模式相关，该弯曲模式保持大的尖端位移，同时降低质心位移。研究结果对于开发高效的游泳机器人具有重要的参考价值。
Abstract Using computational modelling, we probe the hydrodynamics of a bio-inspired elastic propulsor with hybrid actuation that oscillates at resonance in a Newtonian fluid. The propulsor is actuated by a heaving motion at the base and by an internal bending moment distributed along the propulsor length. The simulations reveal that by tuning the phase difference between the external and internal actuation, the propulsor thrust and free-swimming velocity can be regulated in a wide range while maintaining high efficiency. Furthermore, the hybrid propulsor outperforms propulsors with either of the actuation methods. The enhanced performance is associated with the emerging bending pattern maintaining large tip displacement with reduced centre-of-mass displacement. The results are useful for developing highly efficient robotic swimmers utilizing smart materials as propulsors with simplified design and operation.