Tunable stiffness enables fast and efficient swimming in fish-like robots
Tunable stiffness enables fast and efficient swimming in fish-like robots
复制标题
可调节的刚度使鱼形机器人能够快速高效地游泳
DOI：
10.1126/scirobotics.abe4088
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发表时间：
2021-08-11
期刊：
影响因子：
25
通讯作者：
Quinn, D. B.
中科院分区：
文献类型：
--
作者：
Zhong, Q.;Zhu, J.;Quinn, D. B.
鱼在各种速度范围内都能保持很高的游动效率。这一成就的一个关键是它们的灵活性，但就性能而言，即使是灵活的机器鱼也比不上真正的鱼。在这里，我们探索鱼是如何通过利用它们的肌肉来调节尾巴的僵硬来实现高效游泳来利用可调节的灵活性。我们推导了一个模型，解释了调整刚度如何以及为什么会影响性能。我们表明，为了最大限度地提高效率，肌肉张力应该与游泳速度的平方成比例，为鱼类机器人提供了一种简单的调整策略。在类似金枪鱼的频率和速度(0到6赫兹；每秒0到2个身体长度)下，调节刚度可以使游泳效率加倍。能源节约随着频率的增加而增加，这表明高频鱼类机器人从调整刚度中获得的好处最多。
Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.