由履带和仿生鳍驱动的自适应水陆两栖机器人的流体力学模拟和实验。

IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Biomimetics Pub Date : 2024-09-24 DOI:10.3390/biomimetics9100580
Minghai Xia, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu, Zirong Luo
{"title":"由履带和仿生鳍驱动的自适应水陆两栖机器人的流体力学模拟和实验。","authors":"Minghai Xia, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu, Zirong Luo","doi":"10.3390/biomimetics9100580","DOIUrl":null,"url":null,"abstract":"<p><p>Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot's maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot's design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":null,"pages":null},"PeriodicalIF":3.4000,"publicationDate":"2024-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11504528/pdf/","citationCount":"0","resultStr":"{\"title\":\"Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins.\",\"authors\":\"Minghai Xia, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu, Zirong Luo\",\"doi\":\"10.3390/biomimetics9100580\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot's maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot's design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots.</p>\",\"PeriodicalId\":8907,\"journal\":{\"name\":\"Biomimetics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-09-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11504528/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Biomimetics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3390/biomimetics9100580\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biomimetics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/biomimetics9100580","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0

摘要

水陆两栖机器人在工业、国防和交通领域有着广阔的前景。为了提高推进性能和降低操作复杂性,本文提出了一种新型仿生两栖机器人,即AmphiFinbot-II。该机器人的游泳和行走部分采用复合驱动机制,可同时控制履带的旋转和起伏鳍的波浪式运动。机器人采用不同的推进方式,但使用相同的运行策略,无需进行模式切换。介绍了机器人的结构和运动原理。通过计算流体动力学仿真分析了机器人在不同运动模式下的性能。仿真结果验证了波浪式游泳机制的可行性。对陆地和水下运动进行了物理实验,结果与模拟结果一致。水下线速度和角速度都与起伏频率成正比。机器人在陆地上的最大线速度和转向速度分别为 2.26 m/s(2.79 BL/s)和 442°/s,而在水下的最大速度分别为 0.54 m/s(0.67 BL/s)和 84°/s。研究结果表明,该机器人具有出色的水陆两栖运动能力和简单而统一的控制方法,从而验证了该机器人设计方案的可行性,并为开发高性能、自成一体的水陆两栖机器人提供了一种新的理念。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins.

Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot's maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot's design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Biomimetics
Biomimetics Biochemistry, Genetics and Molecular Biology-Biotechnology
CiteScore
3.50
自引率
11.10%
发文量
189
审稿时长
11 weeks
期刊最新文献
Brain-Inspired Architecture for Spiking Neural Networks. Explorative Binary Gray Wolf Optimizer with Quadratic Interpolation for Feature Selection. Path Planning of an Unmanned Aerial Vehicle Based on a Multi-Strategy Improved Pelican Optimization Algorithm. Performance Comparison of Bio-Inspired Algorithms for Optimizing an ANN-Based MPPT Forecast for PV Systems. Clinical Applications of Micro/Nanobubble Technology in Neurological Diseases.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1