Undulatory motion of sailfish-like robot via a new single-degree-of-freedom modularized spatial mechanism

Han, Jiaxu1; Fu, Zhongru1; Zhang, Yuanhao1; Shi, Liwei3; Kang, Rongjie1,2; Dai, Jian S.4,5; Song, Zhibin1,2

2024

10.1016/j.mechmachtheory.2023.105502

MECHANISM AND MACHINE THEORY   影响因子和分区

0094-114X

1873-3999

Bionic robotic fish remains a challenging yet intriguing topic in the field of robotics. Although various mechanical structures and materials have been employed in many fish-inspired robots, addressing the complexity and reliability of controlling multiple motors simultaneously in series joints of these robots remains an issue. This study introduces a new solution that utilizes mechanical coupling motion to replicate the undulatory motion of a swimming sailfish. To realize this, we propose a novel single-degree-of-freedom modularized spatial mechanism and develop a theoretical method to ensure the fish-inspired robot's body movement aligns with the undulatory locomotion of an actual sailfish. As all electronic components, including motors, can be installed in the head, waterproofing the undulatory part becomes unnecessary. This enhances the reliability of the sailfish-inspired robot. Two independently controlled pectoral fins are positioned on the head for steering purposes. An experimental prototype, measuring 1250 mm in length, is tested to assess its swimming performance. The results indicate that the proposed mechanism can effectively transmit torque and motion, and the sailfish-inspired robot is capable of mimicking the locomotion of a swimming sailfish.

Sailfish-like robot Modularized mechanism Single-DoF spatial mechanism

SCI ; EI

英语

其他

National Natural Science Foundation of China (NSFC)["51975401","51721003"]

Engineering

Engineering, Mechanical

WOS:001088724700001

PERGAMON-ELSEVIER SCIENCE LTD

ENGINEERING

2-s2.0-85172862255

Web of Science

1.Tianjin Univ, Sch Mech Engn, Tianjin 300350, Peoples R China
2.Tianjin Univ, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300350, Peoples R China
3.Beijing Inst Technol, Sch Med Technol, Beijing 100081, Peoples R China
4.Southern Univ Sci & Technol, Coll Engn, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
5.Univ London, Kings Coll London, London WC2R 2LS, England

Han, Jiaxu,Fu, Zhongru,Zhang, Yuanhao,et al. Undulatory motion of sailfish-like robot via a new single-degree-of-freedom modularized spatial mechanism[J]. MECHANISM AND MACHINE THEORY,2024,191.

Han, Jiaxu.,Fu, Zhongru.,Zhang, Yuanhao.,Shi, Liwei.,Kang, Rongjie.,...&Song, Zhibin.(2024).Undulatory motion of sailfish-like robot via a new single-degree-of-freedom modularized spatial mechanism.MECHANISM AND MACHINE THEORY,191.

Han, Jiaxu,et al."Undulatory motion of sailfish-like robot via a new single-degree-of-freedom modularized spatial mechanism".MECHANISM AND MACHINE THEORY 191(2024).