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首页> 外文期刊>Bioinspiration & biomimetics >Comprehensive analysis of efficient swimming using articulated legs fringed with flexible appendages inspired by a water beetle
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Comprehensive analysis of efficient swimming using articulated legs fringed with flexible appendages inspired by a water beetle

机译：利用水甲虫灵活的铰接腿综合分析铰接腿部流苏

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Drag-based swimming is usually accompanied with the shape change of rowing appendages to generate asymmetric force during the power stroke and recovery stroke. To implement this in an aquatic robot, one may actively control the surface area of its legs during the swimming. However, a small sized robot with a limited number of actuators should adjust the surface area of legs in passive manner. For this reason, we proposed a novel articulated leg with flexible appendages inspired by a water beetle. These leg structures were designed to implement an efficient recovery stroke with less resistive force during the recovery stroke, while its surface area was increased again if suitable relaxation time was applied to perform improved power stroke. To identify an optimal leg design, 36 different types were fabricated by changing the passive joint thickness, appendage materials, length, and morphology. Several correlations and dominant parameters were identified, and it was shown that the swimming leg with fixed joint and appendage stiffness cannot always generate the largest torque in all the swimming frequency. Also, a two-dimensional dynamic model was proposed based on an underactuated manipulator, and the model validation was proceeded by comparing with two selected leg designs. In addition, a 5.5 cm long robot with one pair of legs was built to further investigate their locomotory performance. By varying the beating frequency and relaxation time, thorough analysis was addressed in terms of the position, velocity, non-dimensional traveled distance, Strouhal number, and quasi-propulsive efficiency. Here, some important relationships between dimensionless numbers were established. Furthermore, it was found that introducing a relaxation phase between the power stroke and recovery stroke can increase the traveled distance per stroke with slight expense of propulsive efficiency.
机译：基于拖曳的游泳通常伴随着划艇附属物的形状变化，以在电力行程和恢复行程期间产生不对称力。为了在水生机器人中实现这一点，可以在游泳期间主动控制其腿的表面区域。然而，具有有限数量的致动器的小型机器人应以被动方式调节腿的表面积。出于这个原因，我们提出了一种具有灵活的附属于水甲虫的细微铰接腿。设计这些腿部结构以在恢复行程期间实施具有较低电阻力的有效恢复行程，而当施加合适的松弛时间以进行改进的动力行程，其表面积再次增加。为了识别最佳的腿部设计，通过改变被动关节厚度，阑尾材料，长度和形态来制造36种不同的类型。鉴定了几个相关性和显性参数，并显示出具有固定接头和附加刚度的游泳腿不能总是在所有游泳频率中产生最大的扭矩。此外，基于欠扰动的机械手提出了一种二维动态模型，通过与两个选定的腿设计进行比较进行模型验证。此外，建立了一对腿的5.5厘米长的机器人，以进一步调查它们的机器人性能。通过改变跳动频率和弛豫时间，就位置，速度，非维度行驶距离，Strouhal数和准推进效率而言，解决了彻底的分析。在这里，建立了无量纲数之间的一些重要关系。此外，发现在动力行程和恢复行程之间引入弛豫阶段可以增加每次冲程的行驶距离，以略微牺牲推进效率。

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