Development of a Stingray-inspired High-Frequency Propulsion Platform with Variable Wavelength
Development of a Stingray-inspired High-Frequency Propulsion Platform with Variable Wavelength
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DOI：
10.1109/iros47612.2022.9981761
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Q. Zhong;Yicong Fu;Leo Liu;D. Quinn
中科院分区：
文献类型：
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作者：
Q. Zhong;Yicong Fu;Leo Liu;D. Quinn
鱼状机器人中的波动鳍运动通常是使用复杂的伺服电机阵列创建的。电机阵列在运动学方面提供了令人印象深刻的多功能性，但其复杂性导致了尺寸、水动力产生和功耗方面的限制，特别是在研究高频推进性能时。在这里，我们提出了一种替代设计，它使用单个电机和可调旋转凸轮系系统来实现一系列由振荡运行的鳍运动（波数 1）。我们的平台能够在规定的桨距振幅、频率和波数下进行推力、升力、功率和尾流测量。我们通过水箱中的力和尾流测量展示了该平台的振荡和波动能力。对鳍波数的研究为类鱼水下机器人，特别是那些受黄貂鱼启发的设计提供了设计见解。
Undulatory fin motions in fish-like robots are typically created using intricate arrays of servo motors. Motor arrays offer impressive versatility in terms of kinematics, but their complexity leads to constraints on size, hydrodynamic force production, and power consumption, particularly when studying propulsive performance at high-frequencies. Here we present an alternative design that uses a single motor and a tunable rotary cam-train system to achieve a spectrum of fin motions running from oscillation (wavenumber 1). Our platform enables thrust, lift, power, and wake measurements at prescribed pitch amplitudes, frequencies, and wavenumbers. We demonstrated the platform's oscillating and undulating capabilities via force and wake measurements in a water tank. Studies of fin wavenumber offer design insights for fish-like underwater robots, particularly those with stingray-inspired designs.