Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion

被引：8

作者：

van den Berg, Sander C. ^{[1
]}

Scharff, Rob B. N. ^{[1
]}

Rusak, Zoltan ^{[1
]}

Wu, Jun ^{[1
]}

机构：

[1] Delft Univ Technol, Dept Sustainable Design Engn, Landbergstr 15, NL-2628 CE Delft, Netherlands

来源：

BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2020 | 2020年 / 12413卷

关键词：

Soft robotic fish; Oscillating propulsion; Marine robotics; Biomimetics;

D O I：

10.1007/978-3-030-64313-3_35

中图分类号：

Q813 [细胞工程];

学科分类号：

摘要：

We present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.

引用

页码：366 / 377

页数：12