TY - JOUR
T1 - Design and Experimental Research on a Bionic Robot Fish with Tri-Dimensional Soft Pectoral Fins Inspired by Cownose Ray
AU - Chen, Lingkun
AU - Bi, Shusheng
AU - Cai, Yueri
AU - Cao, Yong
AU - Pan, Guang
N1 - Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2022/4
Y1 - 2022/4
N2 - Bionic propulsion has advantages over traditional blade propellers, such as efficiency and noise control. Existing research on ray-inspired robot fish has mainly focused on a single type of pectoral fin as bionic propeller, which only performed well in terms of pure speed or maneuverability. Rarely has the performance of different fin types been compared on the same platform to find an optimal solution. In this paper, a modularized robot fish with high-fidelity biomimetic pectoral fins and novel multi-DOF propelling mechanism is presented. A kinematic model of the pectoral fin based on motion analysis of a cownose ray is introduced as guidance for the propelling mechanism design. A high-fidelity parametric geo-model is established and evaluated based on statistical data. The design and fabrication process of the 3D soft bionic fins, as well as the robot platform, is also elaborated. Through experiments comparing the performance of different fin types constructed with different materials and approaches, it was found that the new soft fins made of silicon rubber have better performance than traditional fins constructed with a flexible inner skeleton and a permeable outer skin as a result of better 3D profile preservation and hydrodynamic force interaction. The robot ray prototype also acquires a better combination of high speed and maneuverability compared to results of previous research.
AB - Bionic propulsion has advantages over traditional blade propellers, such as efficiency and noise control. Existing research on ray-inspired robot fish has mainly focused on a single type of pectoral fin as bionic propeller, which only performed well in terms of pure speed or maneuverability. Rarely has the performance of different fin types been compared on the same platform to find an optimal solution. In this paper, a modularized robot fish with high-fidelity biomimetic pectoral fins and novel multi-DOF propelling mechanism is presented. A kinematic model of the pectoral fin based on motion analysis of a cownose ray is introduced as guidance for the propelling mechanism design. A high-fidelity parametric geo-model is established and evaluated based on statistical data. The design and fabrication process of the 3D soft bionic fins, as well as the robot platform, is also elaborated. Through experiments comparing the performance of different fin types constructed with different materials and approaches, it was found that the new soft fins made of silicon rubber have better performance than traditional fins constructed with a flexible inner skeleton and a permeable outer skin as a result of better 3D profile preservation and hydrodynamic force interaction. The robot ray prototype also acquires a better combination of high speed and maneuverability compared to results of previous research.
KW - 3D soft pectoral fin
KW - bionic propelling mecha-nism
KW - high-fidelity geometric model
KW - kinematic model
KW - robotic fish
UR - http://www.scopus.com/inward/record.url?scp=85129026219&partnerID=8YFLogxK
U2 - 10.3390/jmse10040537
DO - 10.3390/jmse10040537
M3 - 文章
AN - SCOPUS:85129026219
SN - 2077-1312
VL - 10
JO - Journal of Marine Science and Engineering
JF - Journal of Marine Science and Engineering
IS - 4
M1 - 537
ER -