A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation
A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation
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DOI：
10.1109/lra.2020.2975747
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发表时间：
2020-04
影响因子：
5.2
通讯作者：
Ashutosh Simha;Roza Gkliva;Ü. Kotta;M. Kruusmaa
中科院分区：
文献类型：
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作者：
Ashutosh Simha;Roza Gkliva;Ü. Kotta;M. Kruusmaa
这封信提出了一种新颖的设计，推进效率和敏捷的水下机器人运动的摆动鳍。我们提出了一个扁平的桨鳍包括一组重叠级联软皮瓣，开放的中风周期的一半，并在其他关闭。因此，被动地实现了在振荡致动期间由鳍施加的横向阻力的不对称性。这使得能够在力产生方面比依赖于较弱的纵向尾流诱导力的常规振荡翅片具有显著更高的效率。实验结果表明，在净推力和推进效率比传统的鳍有很大程度的改善。运动与建议鳍已被证明在水下机器人平台。通过致动器之间的角度和相位偏移，使用振荡致动来实现各种步态。
This letter presents a novel design of an oscillatory fin for thrust-efficient and agile underwater robotic locomotion. We propose a flat paddle-fin comprising a set of overlapping cascaded soft flaps that open in one half of the stroke cycle and close in the other. Consequently, asymmetry in the lateral drag force exerted by the fin during oscillatory actuation is passively achieved. This enables a substantially higher degree of efficiency in force generation than conventional oscillatory fins which rely on weaker longitudinal wake-induced forces. Experimental results show a high degree of improvement in net thrust and propulsive-efficiency over conventional fins. Locomotion with the proposed fin has been demonstrated on an underwater robotic platform. Various gaits were achieved using oscillatory actuation, via angular and phase offsets between the actuators.