Development of a soft underwater robot mimicking cow-nosed ray
Development of a soft underwater robot mimicking cow-nosed ray
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DOI：
10.1109/robio.2011.6181538
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Wenjing Zhao;T. Osaka;A. Ming;M. Shimojo
中科院分区：
文献类型：
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作者：
Wenjing Zhao;T. Osaka;A. Ming;M. Shimojo
本文旨在基于压电纤维复合材料的软仿生牛鼻鳐的设计和性能增强。使用的是一种典型的压电纤维复合材料——宏观纤维复合材料（MFC）。基于仿生学和有限元法（FEM）结构动力学分析，通过结构优化，提出了一种新的软体机器鱼结构。根据该结构，通过仿真分析描述了胸鳍扑动运动的轨迹。同时，给出了样机的实验结果。比较正常时期胸鳍轨迹的模拟与实验位移结果。模拟结果与实验结果很好地吻合。最后描述了软体机器鱼在水中的胸鳍轨迹和速度性能。使用10Hz矩形波输入信号时，速度可达200mm/s。
This paper aims at design and enhancement of the performance for soft biomimetic cow-nosed ray based on piezoelectric fiber composite. Macro fiber composite (MFC), a typical piezoelectric fiber composite is used. A new structure of the soft robotic fish is proposed through structural optimization based on the bionics and structural dynamics analysis with the Finite Element Method (FEM). According to this structure, the track of the flapping motion for pectoral fins is described by the simulation analysis. Meantime, experiment of the prototype is presented. The displacement results of the track for pectoral fin in simulation and experiment are compared during a normal period. The simulation results march the experimental results well. Finally, the track of pectoral fin and speed performance of the soft robotic fish in the water is described. The speed can reach 200mm/s when 10Hz rectangular input signal is used.