Effect of body stiffness distribution on larval fish-like efficient undulatory swimming.
Effect of body stiffness distribution on larval fish-like efficient undulatory swimming.
复制标题
体刚度分布对仔鱼高效波动游动的影响。
DOI：
10.1126/sciadv.abf7364
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发表时间：
2021-05
期刊：
影响因子：
13.6
通讯作者：
Sitti M
中科院分区：
文献类型：
--
作者：
Wang T;Ren Z;Hu W;Li M;Sitti M
鱼状软体机器人幼虫揭示了在中间流态下刚度分布对高效游动的影响。节能推进是机器人游泳的关键设计目标。虽然已有研究指出非均匀体弯曲刚度分布(k)对于提高成年类鱼机器人在惯性流动状态下的波动游泳效率的重要性，但这种弹性机制在中间流动状态下是否有益仍是一个未知数。因此，我们开发了一类由磁性复合头部和具有不同k的被动弹性体组成的无系绳软毫秒机器人。这些机器人在相同尺度下实现了类似斑马鱼的幼虫波动游泳。研究表明，均匀的k和高的游泳频率（60 ~ 100 Hz）有利于提高效率。一种基于形状记忆聚合物的毫微秒传感器，可以在飞行中调节k值，证实了这一发现。这些获得的知识可以指导设计节能前沿驱动的软波动毫秒器，用于未来在相同流动状态下的环境和生物医学应用。
Larval fish–like soft robots reveal the effect of stiffness distribution on efficient swimming in the intermediate flow regime. Energy-efficient propulsion is a critical design target for robotic swimmers. Although previous studies have pointed out the importance of nonuniform body bending stiffness distribution (k) in improving the undulatory swimming efficiency of adult fish–like robots in the inertial flow regime, whether such an elastic mechanism is beneficial in the intermediate flow regime remains elusive. Hence, we develop a class of untethered soft milliswimmers consisting of a magnetic composite head and a passive elastic body with different k. These robots realize larval zebrafish–like undulatory swimming at the same scale. Investigations reveal that uniform k and high swimming frequency (60 to 100 Hz) are favorable to improve their efficiency. A shape memory polymer–based milliswimmer with tunable k on the fly confirms such findings. Such acquired knowledge can guide the design of energy-efficient leading edge–driven soft undulatory milliswimmers for future environmental and biomedical applications in the same flow regime.
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