Swimming Performance of a Tensegrity Robotic Fish
Swimming Performance of a Tensegrity Robotic Fish
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DOI：
10.1089/soro.2018.0079
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发表时间：
2019-04-13
期刊：
影响因子：
7.9
通讯作者：
Jiang, Hongzhou
中科院分区：
文献类型：
--
作者：
Chen, Bingxing;Jiang, Hongzhou
我们描述了一种张拉整体机器鱼，并详细介绍了它的整体结构、刚度和机电一体化。机器鱼主体的柔性结构是由一系列刚性节通过张拉单元连接而成。各刚性段可绕张拉整体柔性节点旋转，彼此之间无直接接触。张拉整体机器鱼的主导振动模式可以被一个单一的谐波输入激发，以模拟所需的运动运动学。对于我们的张拉整体机器鱼，实验结果表明，它的最大步幅约为0.5个体长/周期；其斯特罗哈尔数大致在0.45 - 0.55之间，接近镜状游泳者的生物学数据。谐波分析技术将证明两种不同的振动模式可以实现。结果表明，采用张拉整体节点可以提高游泳性能。
We described a tensegrity robotic fish and detailed its overall structure, stiffness, and mechatronics. The main flexible structure of the robotic fish body was composed with a series of rigid segments linked with tensegrity joints by means of tension elements. Each rigid segment can rotate around tensegrity-compliant joint and have no direct contact with each other. The dominant vibrational mode of the tensegrity robotic fish can be excited by a single harmonic input to mimic the desired kinematics of locomotion. For our tensegrity robotic fish, the experimental results showed that its maximum stride length was about 0.5 body length per cycle; its Strouhal number was roughly between 0.45 and 0.55 near the biological data of carangiform swimmers. Two different vibrational modes that can be achieved would be demonstrated by the harmonic analysis technique. The results indicated that the swimming performance can be improved by using tensegrity joints.