Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856161
Chunhui Zhu, Liangwei Deng, Xiaofei Wang, Z. Yin, Chao Zhou
Fish have attracted a huge number of researchers in recent years due to their exceptional swimming abilities, and many imitation fish propulsion robots have been produced. Numerous studies have demonstrated that fish obtain the best swimming speed and efficiency by adjusting the stiffness of their bodies when the tail beats at different frequencies, yet most contemporary robotic fish neglect the stiffness of the fish body. In this article, we create a fishtail with elastic materials, which is combined with a hard silicone cylinder and several regularly arranged balls in the cylinder. We achieve changeable stiffness by squeezing the inner elastic balls to enhance total stiffness, which is controlled by a stepper motor, with the reason that second moments of cross section can influence the stiffness of beam. After modeling and analyzing the system, we build it into a composite cantilever beam made up of a hollow outer cylinder and a periodic heterogeneous core. The stiffness of this complicated beam is calculated using a explicitly formula. Finally, in order to achieve a considerable stiffness increase, we construct a test platform and undertake experimental verification.
{"title":"Design and Modeling of Elastic Variable Stiffness Robotic Fish Tail","authors":"Chunhui Zhu, Liangwei Deng, Xiaofei Wang, Z. Yin, Chao Zhou","doi":"10.1109/ICMA54519.2022.9856161","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856161","url":null,"abstract":"Fish have attracted a huge number of researchers in recent years due to their exceptional swimming abilities, and many imitation fish propulsion robots have been produced. Numerous studies have demonstrated that fish obtain the best swimming speed and efficiency by adjusting the stiffness of their bodies when the tail beats at different frequencies, yet most contemporary robotic fish neglect the stiffness of the fish body. In this article, we create a fishtail with elastic materials, which is combined with a hard silicone cylinder and several regularly arranged balls in the cylinder. We achieve changeable stiffness by squeezing the inner elastic balls to enhance total stiffness, which is controlled by a stepper motor, with the reason that second moments of cross section can influence the stiffness of beam. After modeling and analyzing the system, we build it into a composite cantilever beam made up of a hollow outer cylinder and a periodic heterogeneous core. The stiffness of this complicated beam is calculated using a explicitly formula. Finally, in order to achieve a considerable stiffness increase, we construct a test platform and undertake experimental verification.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125626680","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856283
Long Yao, Shuxiang Guo, Lining Zhang
In the field of gastrointestinal and gastrointestinal diseases, the most common detection method is to use a digestive endoscope, but because the gastroscope passes through the human pharynx, it causes irritation to the pharynx, and patients will have discomfort such as nausea; after the colonoscopy enters the intestinal cavity, the patient will feel abdominal pain. To solve these problems, researchers invented capsule endoscopes. At present, after the capsule endoscope used in the clinic is swallowed by the human body, it is moved by the peristalsis of the intestine, and the internal image is transmitted to the outside world through wireless communication for diagnosis by the doctor, and finally discharged from the human anus, with low efficiency and controllability. In this paper, a liquid drug release module device that can be assembled on a micro-robot drive module is proposed, which uses a rotating magnetic field to push the internal spiral rotation structure, and pushes the piston at the bottom of the drug warehouse to squeeze the internal space of the drug warehouse, to achieve the purpose of releasing liquid drugs at a fixed point in the digestive tract.
{"title":"A Novel Spiral Capsule Robot with Liquid Drug Releasing Functions","authors":"Long Yao, Shuxiang Guo, Lining Zhang","doi":"10.1109/ICMA54519.2022.9856283","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856283","url":null,"abstract":"In the field of gastrointestinal and gastrointestinal diseases, the most common detection method is to use a digestive endoscope, but because the gastroscope passes through the human pharynx, it causes irritation to the pharynx, and patients will have discomfort such as nausea; after the colonoscopy enters the intestinal cavity, the patient will feel abdominal pain. To solve these problems, researchers invented capsule endoscopes. At present, after the capsule endoscope used in the clinic is swallowed by the human body, it is moved by the peristalsis of the intestine, and the internal image is transmitted to the outside world through wireless communication for diagnosis by the doctor, and finally discharged from the human anus, with low efficiency and controllability. In this paper, a liquid drug release module device that can be assembled on a micro-robot drive module is proposed, which uses a rotating magnetic field to push the internal spiral rotation structure, and pushes the piston at the bottom of the drug warehouse to squeeze the internal space of the drug warehouse, to achieve the purpose of releasing liquid drugs at a fixed point in the digestive tract.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122247091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855914
Tatsuro Yonekura, Morimichi Furudate, Kanta Kanazawa, T. Miyoshi, H. Yoshida
The goal of this project is to survey Arctic sea ice. In this paper, we present the design concepts of an Arctic Explorer (AE) that can recover from a stuck situation, drive on inclines, and drive on uneven terrains, which are expected when autonomic driving on an icy, snowy surface. Two different prototypes remotely operated small vehicle AEs had constructed to test three driving abilities on the icy and snowy surface; (1) a stuck situation, (2) an incline situation, and (3) an uneven surface. The results showed that the AE-I got stuck as expected on sherbet-like snow and flat, icy road surfaces with no unevenness. In addition, AE-I could run at low speeds (about 0.1 m/s) on the frozen surface with 2 cm unevenness. AE-II proceeded over uneven surfaces and ran a slope set at 15 degrees. These results suggest that stable traction was obtained by passive changes in the posture of the front and rear sections of AE-II.
{"title":"Attempt toward the development of autonomous explorer for arctic ice survey - Identification of issues for moving on icy and snowy surface","authors":"Tatsuro Yonekura, Morimichi Furudate, Kanta Kanazawa, T. Miyoshi, H. Yoshida","doi":"10.1109/ICMA54519.2022.9855914","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855914","url":null,"abstract":"The goal of this project is to survey Arctic sea ice. In this paper, we present the design concepts of an Arctic Explorer (AE) that can recover from a stuck situation, drive on inclines, and drive on uneven terrains, which are expected when autonomic driving on an icy, snowy surface. Two different prototypes remotely operated small vehicle AEs had constructed to test three driving abilities on the icy and snowy surface; (1) a stuck situation, (2) an incline situation, and (3) an uneven surface. The results showed that the AE-I got stuck as expected on sherbet-like snow and flat, icy road surfaces with no unevenness. In addition, AE-I could run at low speeds (about 0.1 m/s) on the frozen surface with 2 cm unevenness. AE-II proceeded over uneven surfaces and ran a slope set at 15 degrees. These results suggest that stable traction was obtained by passive changes in the posture of the front and rear sections of AE-II.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128194681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With the development of an intelligent unmanned working platform, the design of amphibious robots has gradually become the focus of research in the field of automatic control. An amphibious robot is a multifunctional robot with both land movement ability and underwater movement ability. This paper combines the various characteristics of the wheeled robot and the legged robot at the present stage, so that the amphibious robot has motion speed and multiple degrees of freedom at the same time, and compares and selects the shape and length-width ratio of the robot’s shell. This paper designs a dual-purpose driving module, which installs the land driving device and underwater driving device together to save structural space. Using the waterproof brushless motor as the power take-off device of the module can ensure the efficient operation of the module. The most suitable shell shape and proportion are selected by ANSYS hydrodynamics simulation software, and the thrust characteristics of the underwater driving device are obtained. In addition, a state switching device composed of the steering gear is designed, and experiments show that the device can increase the motion freedom of amphibious robots.
{"title":"Structural Design and Research of Amphibious Robot with Wheel and Propeller","authors":"Haoran Han, Qiang Fu, Jian Guo, Lingxiao Li, Jinliang Yin","doi":"10.1109/ICMA54519.2022.9856168","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856168","url":null,"abstract":"With the development of an intelligent unmanned working platform, the design of amphibious robots has gradually become the focus of research in the field of automatic control. An amphibious robot is a multifunctional robot with both land movement ability and underwater movement ability. This paper combines the various characteristics of the wheeled robot and the legged robot at the present stage, so that the amphibious robot has motion speed and multiple degrees of freedom at the same time, and compares and selects the shape and length-width ratio of the robot’s shell. This paper designs a dual-purpose driving module, which installs the land driving device and underwater driving device together to save structural space. Using the waterproof brushless motor as the power take-off device of the module can ensure the efficient operation of the module. The most suitable shell shape and proportion are selected by ANSYS hydrodynamics simulation software, and the thrust characteristics of the underwater driving device are obtained. In addition, a state switching device composed of the steering gear is designed, and experiments show that the device can increase the motion freedom of amphibious robots.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121612060","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ships sailing in the sea for a long time, the bottom of the ship will be attached to many creatures, resulting in slower and slower sailing speed, there is a certain security risks. This paper studies an amphibious hull cleaning robot, which can clean the bottom of the ship and store the bottom condition for professional inspection. Thus, the cost of ship cleaning and maintenance can be reduced and the safety of personnel can be improved. In this paper, A-Star algorithm is proposed to solve the path planning problem of the robot.
{"title":"Application of A star algorithm in amphibious hull cleaning robot","authors":"Qiyue Wang, Qiang Fu, Yi Zhang, Lingxiao Li, Haoran Han, Jinliang Yin, Zhe Hao","doi":"10.1109/ICMA54519.2022.9855911","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855911","url":null,"abstract":"Ships sailing in the sea for a long time, the bottom of the ship will be attached to many creatures, resulting in slower and slower sailing speed, there is a certain security risks. This paper studies an amphibious hull cleaning robot, which can clean the bottom of the ship and store the bottom condition for professional inspection. Thus, the cost of ship cleaning and maintenance can be reduced and the safety of personnel can be improved. In this paper, A-Star algorithm is proposed to solve the path planning problem of the robot.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121781459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856231
Li-Bin Duan, Liwei Shi, Shuxiang Guo, Pengxiao Bao
The frame structure of the aircraft and the aerodynamic layout of the main components are closely related to the dynamic characteristics of the aircraft and the aerodynamic forces it receives, which determine the aircraft characteristics and performance indicators of the aircraft. In order to study whether the performance index of the control system meets the actual requirements and the influence of the change of the relevant initial conditions on the aerodynamic characteristics of the aircraft. According to the cruising requirements, we independent design of aircraft model, determine the calculation area of the aircraft and use a new mesh generation technique to generate an unstructured polyhedral mesh and also select a suitable calculation model according to the discrete characteristics of the equation and set the relevant initial conditions of the aircraft and at last uses ANSYS FLUENT to carry out the aerodynamic simulation calculation of the aircraft. The data analysis of the simulation results is achieved, the pressure contour, the vorticity contour, velocity vector contour and streamline contour of the aircraft surface are analyzed. Meanwhile, the lift coefficient, the drag coefficient and the optimum speed for high altitude flight of the aircraft are obtained. The study of the changing law can provide the basis and reference for the aerodynamic flight performance of the aircraft.
{"title":"Aerodynamic Simulation of Aircraft Crusing Characteristics Based on FLUENT","authors":"Li-Bin Duan, Liwei Shi, Shuxiang Guo, Pengxiao Bao","doi":"10.1109/ICMA54519.2022.9856231","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856231","url":null,"abstract":"The frame structure of the aircraft and the aerodynamic layout of the main components are closely related to the dynamic characteristics of the aircraft and the aerodynamic forces it receives, which determine the aircraft characteristics and performance indicators of the aircraft. In order to study whether the performance index of the control system meets the actual requirements and the influence of the change of the relevant initial conditions on the aerodynamic characteristics of the aircraft. According to the cruising requirements, we independent design of aircraft model, determine the calculation area of the aircraft and use a new mesh generation technique to generate an unstructured polyhedral mesh and also select a suitable calculation model according to the discrete characteristics of the equation and set the relevant initial conditions of the aircraft and at last uses ANSYS FLUENT to carry out the aerodynamic simulation calculation of the aircraft. The data analysis of the simulation results is achieved, the pressure contour, the vorticity contour, velocity vector contour and streamline contour of the aircraft surface are analyzed. Meanwhile, the lift coefficient, the drag coefficient and the optimum speed for high altitude flight of the aircraft are obtained. The study of the changing law can provide the basis and reference for the aerodynamic flight performance of the aircraft.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132337529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856219
Fengxu Guan, Zipeng Yang, Xu Zhang, Jiawei Huang
This paper improves the traditional LOS guidance algorithm and obtains a Los guidance algorithm based on time-varying virtual guidance distance. Through comparative simulation, it is proved that the method is better to solve the guidance angle when designing the path following controller of motorized buoy. On the other hand, in order to reduce the unnecessary energy loss of the motorized buoy, the rudder energy loss of the motorized buoy is taken into account, and a more energy-saving path following controller of the motorized buoy is designed. Aquila optimizer is introduced to complete the solution of the control quantity. Ultimately, through comparative simulation, it is proved that the improved controller can achieve more energy-saving control performance while maintaining superior track control effect.
{"title":"Motorized buoy path following based on improved LOS algorithm and Aquila optimizer algorithm","authors":"Fengxu Guan, Zipeng Yang, Xu Zhang, Jiawei Huang","doi":"10.1109/ICMA54519.2022.9856219","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856219","url":null,"abstract":"This paper improves the traditional LOS guidance algorithm and obtains a Los guidance algorithm based on time-varying virtual guidance distance. Through comparative simulation, it is proved that the method is better to solve the guidance angle when designing the path following controller of motorized buoy. On the other hand, in order to reduce the unnecessary energy loss of the motorized buoy, the rudder energy loss of the motorized buoy is taken into account, and a more energy-saving path following controller of the motorized buoy is designed. Aquila optimizer is introduced to complete the solution of the control quantity. Ultimately, through comparative simulation, it is proved that the improved controller can achieve more energy-saving control performance while maintaining superior track control effect.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133924841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856092
Xingfang Wu, Weiming Qu, T. Zhang, D. Luo
Object pose estimation refers to the estimation of objects’ position and orientation relative to the camera coordinate system using visual information. It is fundamental to grasp point selection and motion planning in robot grasping. Different from other works using depth vision sensors, this work discusses the approach of estimating objects’ pose specially with unilateral and unordered point clouds of single objects in robot grasping. In this paper, we propose to directly consume point clouds to estimate objects’ 3D position and 3D orientations relative to predefined canonical posture, which utilizes the PointCNN [1]. A dataset is also collected specifically for this task, on which we train our models and validate the effectiveness of our proposed method. Code, dataset and pre-trained models are available at https://github.com/shrcrobot/Pose-Estimation
{"title":"Object Pose Estimation with Point Cloud Data for Robot Grasping","authors":"Xingfang Wu, Weiming Qu, T. Zhang, D. Luo","doi":"10.1109/ICMA54519.2022.9856092","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856092","url":null,"abstract":"Object pose estimation refers to the estimation of objects’ position and orientation relative to the camera coordinate system using visual information. It is fundamental to grasp point selection and motion planning in robot grasping. Different from other works using depth vision sensors, this work discusses the approach of estimating objects’ pose specially with unilateral and unordered point clouds of single objects in robot grasping. In this paper, we propose to directly consume point clouds to estimate objects’ 3D position and 3D orientations relative to predefined canonical posture, which utilizes the PointCNN [1]. A dataset is also collected specifically for this task, on which we train our models and validate the effectiveness of our proposed method. Code, dataset and pre-trained models are available at https://github.com/shrcrobot/Pose-Estimation","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131137059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856233
Chang Liu, S. Vaassen, Lakshmi Manoj, Xiaojie Zhan, C. Xu, Someshwar Rudra Ajay, Ziyue Lu, Max Wittstamm, Sa. Jain, Chao Zhang, Benny Drescher
Product quality inspection of Thin-film transistor-liquid crystal display (TFT-LCD) is time-consuming and labor-intensive. An automatic algorithm-based defect inspection system solves these problems by reducing the time and manual labor involved. This research work proposes an AI-based LCD inspection vision system that evaluates defects by AI-based defect segmentation and classification. Time-consuming pixel-level labeling of defects can be eliminated by applying weakly-supervised learning methods. The efforts of quality control personnel for model training can be reduced which is especially important in high-mix production with a high amount of changeovers and production process adjustments. Therefore, PP-CAM (Precise-Puzzle-CAM) based defect segmentation method is proposed to cope with diverse TFT-LCD defect shapes and sizes. Secondly, a region of interest-supported classification method is developed to enable cropping of small-scale TFT-LCD. The performance of the AI methods are investigated using industrial TFT-LCD manufacturing datasets of two manufacturing processes.
{"title":"Automatic Labeling in Image Segmentation and Classification for TFT-LCD Manufacturing","authors":"Chang Liu, S. Vaassen, Lakshmi Manoj, Xiaojie Zhan, C. Xu, Someshwar Rudra Ajay, Ziyue Lu, Max Wittstamm, Sa. Jain, Chao Zhang, Benny Drescher","doi":"10.1109/ICMA54519.2022.9856233","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856233","url":null,"abstract":"Product quality inspection of Thin-film transistor-liquid crystal display (TFT-LCD) is time-consuming and labor-intensive. An automatic algorithm-based defect inspection system solves these problems by reducing the time and manual labor involved. This research work proposes an AI-based LCD inspection vision system that evaluates defects by AI-based defect segmentation and classification. Time-consuming pixel-level labeling of defects can be eliminated by applying weakly-supervised learning methods. The efforts of quality control personnel for model training can be reduced which is especially important in high-mix production with a high amount of changeovers and production process adjustments. Therefore, PP-CAM (Precise-Puzzle-CAM) based defect segmentation method is proposed to cope with diverse TFT-LCD defect shapes and sizes. Secondly, a region of interest-supported classification method is developed to enable cropping of small-scale TFT-LCD. The performance of the AI methods are investigated using industrial TFT-LCD manufacturing datasets of two manufacturing processes.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133311205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Compliant passive mechanism has been widely employed in the development of bioinspired aquatic robots that imitates the variable stiffness of fish muscles. However, the existing compliant passive mechanism cannot produce excellent propulsion performance in a wide frequency range. To solve this problem, this paper proposes a novel modeling method for a tuna-inspired robotic fish with passive compliant joint. The passive compliant joint is developed composed of double torsion springs and damping liquid, attempting to implement on the robotic fish to achieve high swimming performance. In order to analyze the motion of the passive joint, a hydrodynamic-twisting-damping torque (HTDT) model is proposed. A dynamic model based on Kane equation is established and indicates that the compliant joint could affect the torque transmitted to the caudal fin to improve the swimming speed of the robotic fish. The particle swarm optimization (PSO) algorithm is further employed to optimize the joint parameters for an enhanced velocity performance. The obtained simulation results suggest that the proposed robotic fish model can reach to a speed of 2.32 m/s, exhibiting an excellent swimming performance. The dynamic model established by this study can make a guideline for the development of robotic fishes with the compliant passive joint.
{"title":"Dynamic Modeling of the Tuna-Inspired Robotic Fish Based on the Elastic-Damping Mechanism","authors":"Xiaofei Wang, Liangwei Deng, Chunhui Zhu, Z. Yin, Jian Wang, Chao Zhou","doi":"10.1109/ICMA54519.2022.9856140","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856140","url":null,"abstract":"Compliant passive mechanism has been widely employed in the development of bioinspired aquatic robots that imitates the variable stiffness of fish muscles. However, the existing compliant passive mechanism cannot produce excellent propulsion performance in a wide frequency range. To solve this problem, this paper proposes a novel modeling method for a tuna-inspired robotic fish with passive compliant joint. The passive compliant joint is developed composed of double torsion springs and damping liquid, attempting to implement on the robotic fish to achieve high swimming performance. In order to analyze the motion of the passive joint, a hydrodynamic-twisting-damping torque (HTDT) model is proposed. A dynamic model based on Kane equation is established and indicates that the compliant joint could affect the torque transmitted to the caudal fin to improve the swimming speed of the robotic fish. The particle swarm optimization (PSO) algorithm is further employed to optimize the joint parameters for an enhanced velocity performance. The obtained simulation results suggest that the proposed robotic fish model can reach to a speed of 2.32 m/s, exhibiting an excellent swimming performance. The dynamic model established by this study can make a guideline for the development of robotic fishes with the compliant passive joint.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133313257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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