首页> 中文期刊> 《仿生工程学报(英文版)》 >A Soft Robotic Fish with Variable-stiffness Decoupled Mechanisms

A Soft Robotic Fish with Variable-stiffness Decoupled Mechanisms

         

摘要

A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting of antagonistic muscles.The mechanisms can be considered as Redundant Planar Rotational Parallel Mechanisms (RPRPM) with antagonistic flexible elements.For a typical RPRPM,its stiffness consists of the adjustable stiffness resulting from internal forces and the inherent stiffness caused by inherent compliances of flexible elements.In order to decouple the adjustable stiffness from the inherent stiffness and expand the range of stiffness variation,a variable-stiffness decoupled mechanism based on the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is presented and used to construct a soft robotic fish with large stiffness variation.According to the analysis of the evolution from RPRPM to MACCEPA,it can be found that MACCEPA is just a special type of RPRPM with only an adjustable stiffness.In addition,MACCEPA existed before RPRPM mechanism.The prototype of the soft robotic fish with variablestiffness decoupled mechanisms is built to explore the relationships between the body stiffness and the swimming performance.It is validated experimentally that the stiffness variation multiple of the robotic fish is raised,the swimming performance of the robotic fish is improved when the stiffness is modulated to match the driving frequency.

著录项

获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号