TY - JOUR
T1 - A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins
AU - Qu, Yilin
AU - Xie, Xiao
AU - Zhang, Shucheng
AU - Xing, Cheng
AU - Cao, Yong
AU - Cao, Yonghui
AU - Pan, Guang
AU - Song, Baowei
N1 - Publisher Copyright:
© 2024 by the authors.
PY - 2024/2
Y1 - 2024/2
N2 - The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically comprises a central rigid body and flexible pectoral fins. Flexible fins provide excellent maneuverability. However, due to the complexity of material mechanics and hydrodynamics, its dynamics are rarely studied, which is crucial for the advanced control of robotic manta (such as trajectory tracking, obstacle avoidance, etc.). In this paper, we develop a multibody dynamic model for our novel manta robot by introducing a pseudo-rigid body (PRB) model to consider passive deformation in the spanwise direction of the pectoral fins while avoiding intricate modeling. In addressing the rigid-flexible coupling dynamics between flexible fins and the actuation mechanism, we employ a sequential coupling technique commonly used in fluid-structure interaction (FSI) problems. Numerical examples are provided to validate the MPF mode and demonstrate the effectiveness of the dynamic model. We show that our model performs well in the rigid-flexible coupling analysis of the manta robot. In addition to the straight-swimming scenario, we elucidate the viability of tailoring turning gaits through systematic variations in input parameters. Moreover, compared with finite element and CFD methods, the PRB method has high computational efficiency in rigid-flexible coupling problems. Its potential for real-time computation opens up possibilities for future model-based control.
AB - The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically comprises a central rigid body and flexible pectoral fins. Flexible fins provide excellent maneuverability. However, due to the complexity of material mechanics and hydrodynamics, its dynamics are rarely studied, which is crucial for the advanced control of robotic manta (such as trajectory tracking, obstacle avoidance, etc.). In this paper, we develop a multibody dynamic model for our novel manta robot by introducing a pseudo-rigid body (PRB) model to consider passive deformation in the spanwise direction of the pectoral fins while avoiding intricate modeling. In addressing the rigid-flexible coupling dynamics between flexible fins and the actuation mechanism, we employ a sequential coupling technique commonly used in fluid-structure interaction (FSI) problems. Numerical examples are provided to validate the MPF mode and demonstrate the effectiveness of the dynamic model. We show that our model performs well in the rigid-flexible coupling analysis of the manta robot. In addition to the straight-swimming scenario, we elucidate the viability of tailoring turning gaits through systematic variations in input parameters. Moreover, compared with finite element and CFD methods, the PRB method has high computational efficiency in rigid-flexible coupling problems. Its potential for real-time computation opens up possibilities for future model-based control.
KW - flexible pectoral fins
KW - manta robot
KW - rigid-flexible coupling dynamic modeling
KW - sequential coupling
UR - http://www.scopus.com/inward/record.url?scp=85187248690&partnerID=8YFLogxK
U2 - 10.3390/jmse12020292
DO - 10.3390/jmse12020292
M3 - 文章
AN - SCOPUS:85187248690
SN - 2077-1312
VL - 12
JO - Journal of Marine Science and Engineering
JF - Journal of Marine Science and Engineering
IS - 2
M1 - 292
ER -