Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity
Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity
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利用被动弹性的受鞭毛启发的软水下螺旋桨的设计、建模和测试
DOI：
10.1109/iros40897.2019.8967700
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
F. Renda
中科院分区：
文献类型：
--
作者：
M. Calisti;F. G. Serchi;C. Stefanini;M. Farman;I. Hussain;C. Armanini;D. Gan;L. Seneviratne;F. Renda
鞭毛微生物在它们的体型范围内被认为是优秀的游泳运动员。这一点，再加上它们驱动的简单性和动力学的丰富性，使它们成为设计连续体自行式水下机器人的宝贵灵感来源。在这里，我们介绍了一个柔软的，鞭毛启发的系统，它利用自己身体的顺应性，从与周围流体的相互作用中被动地获得一系列几何构型。沿着鞭毛长度自发形成的稳定螺旋波是产生正净推力的原因。我们研究了驱动频率与材料弹性之间的关系，以确定系统的稳态构型及其推力输出。这最终被用来执行一个弹性动力学模型的参数识别过程，该模型旨在研究鞭毛机器人推进中的标度律。
Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of their actuation and the richness of their dynamics makes them a valuable source of inspiration to design continuum, self-propelled underwater robots. Here we introduce a soft, flagellum-inspired system which exploits the compliance of its own body to passively attain a range of geometrical configurations from the interaction with the surrounding fluid. The spontaneous formation of stable helical waves along the length of the flagellum is responsible for the generation of positive net thrust. We investigate the relationship between actuation frequency and material elasticity in determining the steady-state configuration of the system and its thrust output. This is ultimately used to perform a parameter identification procedure of an elastodynamic model aimed at investigating the scaling laws in the propulsion of flagellated robots.