Dynamic analysis and optimization of soft robotic fish using fluid-structural coupling method
Dynamic analysis and optimization of soft robotic fish using fluid-structural coupling method
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DOI：
10.1109/icra.2014.6907046
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发表时间：
2014-05
期刊：
影响因子：
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通讯作者：
Wenjing Zhao;A. Ming;M. Shimojo
中科院分区：
文献类型：
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作者：
Wenjing Zhao;A. Ming;M. Shimojo
为了通过仿生方法设计出运动更自然、更灵活、高性能的软体机器鱼，我们正在开发一种采用压电纤维复合材料（PFC）作为执行器的体/尾鳍（BCF）推进的软体机器鱼。与传统的刚性机器鱼相比，软体机器鱼的设计和控制难度较大，由于柔性结构变形大、与流体耦合动力学复杂，难以揭示其动态性能。这就是为什么软体机器鱼的设计和控制方法还没有建立起来，我们需要通过考虑柔性结构与流体之间的相互作用来研究它。本文采用基于声学方法的流固耦合分析来考虑流体效应，并利用 PFC 预测软体机器鱼在流体中的动态响应。首先描述了软体机器鱼在流体中的基本驱动和控制方程。然后进行数值声学耦合分析。计算结果与动态响应实验吻合良好。最后，基于该耦合方法，通过优化改进，提出了一种新的软体机器鱼原型。
Aiming to design a soft robotic fish with more natural, more flexible and high-performance movements through biomimetic method, we are developing a soft robotic fish with body/caudal fin (BCF) propulsion by using piezoelectric fiber composite (PFC) as actuator. Compared with conventional rigid robotic fish, the design and control of the soft robotic fish are difficult and hard to reveal its dynamic performances due to the large deformation of flexible structure and complicated coupling dynamics with fluid. That's why the design and control method of the soft robotic fish has not been established, and we need to study it by considering the interaction between flexible structure and fluid. In this paper, fluid-structural coupling analysis based on acoustics method is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish using PFC in fluid. Basic driving and governing equations of soft robotic fish in the fluid are firstly described. Then the numerical acoustics coupling analysis is performed. The calculated results are congruent well with experiments on dynamic responses. Finally, based on this coupling method, a new prototype of soft robotic fish is proposed by optimization for improvement.