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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Novel Robot Fish With Wire-Driven Active Body and Compliant Tail
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A Novel Robot Fish With Wire-Driven Active Body and Compliant Tail

机译：带有线驱动主动体和柔顺尾巴的新型机器人鱼

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摘要

In the past two decades, a large number of robot fishes have been built, though their performances are still far inferior compared with that of the real fish. One of the key reasons is the design. This paper presents a novel robot fish. The key innovation is the combination of an active wire-driven body with a soft compliant tail to accomplish undulatory swimming (i.e., flapping in “S” motion). First, the design is presented. Second, the design and analysis model is given. In particular, it is shown that the compliant tail can be modeled through the proposed multipseudolink model. Then, a prototype and experimental results are presented. The experiment results demonstrate that the kinematics of the robot fish can be predicted by the presented model with reasonable errors. Moreover, it has several advantages; simple in structure, easy to control, capable of high-speed swimming (the maximum speed is 2.15 body lengths/s), and good maneuverability (the average turning speed is 63°/s). Most importantly, it is highly efficient; the swimming performance of the robot fish is close to that of a real fish.
机译：在过去的二十年中，已经建造了大量的机器鱼，尽管它们的性能与真实鱼相比仍然差强人意。关键原因之一就是设计。本文提出了一种新颖的机器人鱼。关键的创新是将主动的钢丝绳驱动的身体与柔软的柔顺尾巴相结合，以实现起伏式游泳（即，以“ S”形动作拍打）。首先，介绍设计。其次，给出了设计和分析模型。特别地，示出了可以通过提出的多伪链接模型来对顺从尾部进行建模。然后，给出了原型和实验结果。实验结果表明，所提出的模型可以预测机器人鱼的运动学，并且具有合理的误差。而且，它有几个优点；结构简单，易于控制，能够高速游泳（最大速度为2.15体长/秒），机动性好（平均转弯速度为63°/ s）。最重要的是，它非常高效；机器鱼的游泳性能接近真鱼。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第4期|1633-1643|共11页
  • 作者

    Yong Zhong; Zheng Li; Ruxu Du;

  • 作者单位

    Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, Hong Kong;

    Institute of Digestive Disease, and also with the Chow Yuk Ho Technology Centre for Innovative Medicine, Chinese University of Hong Kong, Shatin, Hong Kong;

    Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, Hong Kong;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Fish; Mathematical model; Propulsion; Robot kinematics; Force; Kinematics;

    机译：鱼;数学模型;推进;机器人运动学;力;运动学;

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