The Effect of Design and Control Parameters of a Soft Robotic Fish Tail to Maximize Propulsion Force in Undulatory Actuation
The Effect of Design and Control Parameters of a Soft Robotic Fish Tail to Maximize Propulsion Force in Undulatory Actuation
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DOI：
10.1109/biorob52689.2022.9925385
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发表时间：
2022-08
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影响因子：
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通讯作者：
R. Hall;E. Skorina;Shou-Shan Chiang;C. Onal
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文献类型：
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作者：
R. Hall;E. Skorina;Shou-Shan Chiang;C. Onal
受生物鱼能力的启发，无绳水下软体机器人是在复杂水下环境中航行的理想工具。这样的机器人可以获取密集的三维传感器读数，以便更好地了解海洋不断变化的微气候，同时不会干扰自然的水下生物。本文提出了一种软3D打印电缆驱动的柔性鱼尾，并研究了设计和控制参数，以最大限度地提高其推力输出，用于软机器鱼。所测试的参数包括尾鳍形状、鳍面积、鳍厚度、频率、线缆收缩长度和输入波形。我们的研究结果表明，一个6英寸2（38.71平方厘米），2毫米厚的梯形尾巴提供了最大的平均力输出与所有测试的输入波形。最佳电机参数为三角形输入波，电缆缩回16.76 mm，工作频率1.67 Hz。根据我们的研究结果，使用简单的驱动波形与电缆驱动尾鳍将铺平道路，在复杂的水下环境，如珊瑚礁有效的无绳勘探和监测任务。
A tetherless underwater soft robot inspired by the capabilities of biological fish is an ideal tool to navigate complex underwater environments. Such a robot could take dense three-dimensional sensor readings for a better understanding of the ocean's changing microclimates, while not disturbing the natural underwater life. This paper presents a soft 3D-printed cable-driven flexible fish tail and studies the design and control parameters to maximize its thrust force output for use on a soft robotic fish. The parameters tested were caudal fin shape, fin area, fin thickness, frequency, length of cable retraction, and input waveform. Our results indicate that a 6 in2 (38.71 cm2), 2 mm thick trapezoidal tail provides the maximum mean force output with all tested input waveforms. The optimal motor parameters were a triangular input wave with a cable retraction of 16.76 mm operating at 1.67 Hz. Based on our results, using simple driving waveforms with cable driven caudal fins will pave the way towards efficient tetherless exploration and monitoring tasks in complex underwater environments such as coral reefs.