A Soft Robotic Fish with Variable-stiffness Decoupled Mechanisms
A Soft Robotic Fish with Variable-stiffness Decoupled Mechanisms
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DOI：
10.1007/s42235-018-0049-1
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发表时间：
2018-07-01
影响因子：
4
通讯作者：
Yu, Jianmin
中科院分区：
文献类型：
--
作者：
Li, Kangkang;Jiang, Hongzhou;Yu, Jianmin
身体和/或尾鳍（BCF）鱼通过由拮抗肌组成的机制调节其身体刚度。该机构可视为具有对抗柔性元件的冗余平面转动并联机构。对于典型的RPRPM，其刚度包括由内力引起的可调刚度和由柔性元件的固有柔度引起的固有刚度。为了实现柔性机器鱼的可调刚度与固有刚度的解耦，扩大柔性机器鱼的刚度变化范围，提出了一种基于机械可调柔度可控平衡位置执行器（MACCEPA）的变刚度解耦机构，并将其用于柔性机器鱼的大刚度变化。通过对RPRPM到MACCEPA的演变过程的分析，可以发现MACCEPA只是RPRPM的一种特殊类型，只有一个刚度可调。此外，MACCEPA存在于RPRPM机制之前。建立了具有变刚度解耦机构的柔性机器鱼样机，研究了柔性机器鱼的刚度与游动性能之间的关系。通过实验验证了刚度调制与驱动频率匹配可以提高机器鱼的刚度变化倍数，改善机器鱼的游动性能。
A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting of antagonistic muscles. The mechanisms can be considered as Redundant Planar Rotational Parallel Mechanisms (RPRPM) with antagonistic flexible elements. For a typical RPRPM, its stiffness consists of the adjustable stiffness resulting from internal forces and the inherent stiffness caused by inherent compliances of flexible elements. In order to decouple the adjustable stiffness from the inherent stiffness and expand the range of stiffness variation, a variable-stiffness decoupled mechanism based on the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is presented and used to construct a soft robotic fish with large stiffness variation. According to the analysis of the evolution from RPRPM to MACCEPA, it can be found that MACCEPA is just a special type of RPRPM with only an adjustable stiffness. In addition, MACCEPA existed before RPRPM mechanism. The prototype of the soft robotic fish with variable-stiffness decoupled mechanisms is built to explore the relationships between the body stiffness and the swimming performance. It is validated experimentally that the stiffness variation multiple of the robotic fish is raised, the swimming performance of the robotic fish is improved when the stiffness is modulated to match the driving frequency.