From Natural Complexity to Biomimetic Simplification The Realization of Bionic Fish Inspired by the Cownose Ray

被引：30

作者：

Cai, Yueri ^{[1
]}

Bi, Shusheng ^{[1
]}

Li, Guoyuan ^{[2
]}

Hildre, Hans Petter ^{[2
]}

Zhang, Houxiang ^{[2
]}

机构：

[1] Beihang Univ, Robot Inst, Beijing, Peoples R China

[2] Norwegian Univ Sci & Technol, Dept Ocean Operat & Civil Engn, Trondheim, Norway

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2019年 / 26卷 / 03期

基金：

北京市自然科学基金;

关键词：

ROBOTIC-FISH; DESIGN;

D O I：

10.1109/MRA.2018.2861985

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Features of fish-like environmental compatibility and maneuverability have attracted bioinspired design researchers worldwide to contemplate the practical applications of robotic fish. This article presents a conceptual design for and the development of a robotic fish inspired by the cownose ray. We extracted essential biomimetic parameters of the cownose ray to develop reasonable simplifications of the body shape, the mechanical structure design principle of the multijointdriving fin rays, and the motion principle. The practical motion abilities of the bionic prototype's internally driven skeleton are calculated theoretically and compared with its natural model. Parameters affecting propulsion performances are analyzed using a one-dimensional (1-D) calculation method. The basic motion modes are obtained according to the analysis. © 1994-2011 IEEE.

引用

页码：27 / 38

页数：12

共 20 条

[1] A Method to Investigate General Optimal Maneuvers for Kinematically Reducible Robotic Locomotion Systems [J].