Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

Yin, Xinyan; Jia, Lichao; Wang, Chen; Xie, Guangming

doi:10.1007/s10483-016-2074-8

Cited by 7 publications

(3 citation statements)

References 25 publications

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“…In contrast, the corresponding actuation performance with IEAR is 0.76 +-0.01 Hz (85.4%-), 0.32 +-0.01 N (68.4%-), and 4.77 +-0.04 mWh*cycle -1 (48.7%-). These results mean the robotic fin can produce higher swimming velocity with energy-efficient IEAR when actuating underwater vehicles (Yin et al, 2016). Moreover, we observe an extra beneficial effect of IEAR that the supplied air pressure p tank is improved, and the system power is reduced simultaneously, which performs conducive factors in high-speed and high-efficiency actuation (Figure S8a-c).…”

Section: Robotic Finmentioning

confidence: 71%

High-speed and Low-energy Actuation for Pneumatic Soft Robots With Internal Exhaust Air Recirculation

Feng

Yang

Majidi

et al. 2022

Preprint

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Multi-chamber soft pneumatic actuators (m-SPAs) have been widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m-SPAs have slow actuation speed and are either limited by a finite air supply or require energy-consuming hardware to continuously supply compressed air. Here, we address these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high-speed and low-energy actuation of m-SPAs. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. We develop a theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results. Comparative experimental results of several sets of m-SPAs show that our IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. We further demonstrate the promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric-based finger, and quadruped robot. Corresponding author(s) Email: guguoying@sjtu.edu.cn

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Section: Robotic Finmentioning

confidence: 71%

High-speed and Low-energy Actuation for Pneumatic Soft Robots With Internal Exhaust Air Recirculation

Feng

Yang

Majidi

et al. 2022

Preprint

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“…These results mean the robotic fin can produce higher swimming velocity with energy‐efficient IEAR when actuating underwater vehicles. [ 53 ] Moreover, we observe an extra beneficial effect of IEAR that the supplied air pressure

p_{tank}

is improved, and the system power is reduced simultaneously, which performs conducive factors in high‐speed and high‐efficiency actuation (Figure S8a–c, Supporting Information).…”

Section: Resultsmentioning

confidence: 95%

High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation

Feng

Yang

Majidi

et al. 2023

Advanced Intelligent Systems

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Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high‐speed and low‐energy actuation of m‐SPAs are addressed. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. A theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results, is developed. Comparative experimental results of several sets of m‐SPAs show that the IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. The promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric‐based finger, and quadruped robot are further demonstrated. An interactive preprint version of the article can be found at: https://doi.org/10.22541/au.166428178.80668101/v1.

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“…The above researchers mainly explored the relationship between various influencing factors in theory, and some researchers have studied the advancement of fish by establishing a physical model and combining theory with experiment [17,18]. In 2016, Yin et al [19] took into account the thrust and resistance acting on the robot, and the thrust characteristic is an effective factor for calculating the thrust. In 2018, Zhong et al [20] considered the interaction between the pectoral fin and the caudal fin, founding that the dynamics of the pectoral fin and the caudal fin can be used to estimate the overall swimming speed of the biomimetic fish.…”

Section: Introductionmentioning

confidence: 99%

The Analysis of Biomimetic Caudal Fin Propulsion Mechanism with CFD

Liu

Xie

et al. 2020

Applied Bionics and Biomechanics

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In nature, fish not only have extraordinary ability of underwater movement but also have high mobility and flexibility. The low energy consumption and high efficiency of fish propulsive method provide a new idea for the research of bionic underwater robot and bionic propulsive technology. In this paper, the swordfish was taken as the research object, and the mechanism of the caudal fin propulsion was preliminarily explored by analyzing the flow field structure generated by the swing of caudal fin. Subsequently, the influence of the phase difference of the heaving and pitching movement, the swing amplitude of caudal fin, and Strouhal number (St number) on the propulsion performance of fish was discussed. The results demonstrated that the fish can obtain a greater propulsion force by optimizing the motion parameters of the caudal fin in a certain range. Lastly, through the mathematical model analysis of the tail of the swordfish, the producing propulsive force principle of the caudal fin and the caudal peduncle was obtained. Hence, the proposed method provided a theoretical basis for the design of a high-efficiency bionic propulsion system.

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Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

Cited by 7 publications

References 25 publications

High-speed and Low-energy Actuation for Pneumatic Soft Robots With Internal Exhaust Air Recirculation

High-speed and Low-energy Actuation for Pneumatic Soft Robots With Internal Exhaust Air Recirculation

High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation

The Analysis of Biomimetic Caudal Fin Propulsion Mechanism with CFD

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