由人工肌肉模块驱动的软体机器鱼(SoRoFAAM-1)

IF 4.9 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Journal of Bionic Engineering Pub Date : 2023-07-24 DOI:10.1007/s42235-023-00390-6
Moise Raphael Tsimbo Fokou, Qirong Xia, Hu Jin, Min Xu, Erbao Dong
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引用次数: 0

摘要

本文介绍了由人工肌肉驱动的软体机器鱼(SoRoFAAM)的设计、制造、运动和仿生分析。SoRoFAAM-1作为一种血管状游泳者,从运动角度来看,其最重要的部分是通过分层键合技术围绕双向柔性弯曲致动器设计的尾部。该驱动器由两个基于形状记忆合金(SMA)导线的人造肌肉模块组成。每个人造肌肉模块都有四个独立的sma线通道,因此能够产生四种不同的驱动。该设计允许我们实现基于SMA导线电阻反馈的自适应调节控制策略,以防止它们过热。为了将驱动频率提高到2 Hz,散热率提高60%,我们开发了一种循环加热策略。在此基础上,建立了作动器的热力学模型,并对其热转换进行了分析。分析了驱动参数与SoRoFAAM-1的运动学参数之间的关系。执行器的多功能性赋予SoRoFAAM-1巡航直线和转弯能力。SoRoFAAM-1具有良好的仿生保真度;特别是,机动性为0.15,头部摆动系数为0.38,斯特劳哈尔数为0.61。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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A Soft Robotic Fish Actuated by Artificial Muscle Modules (SoRoFAAM-1)

In this paper, we present the design, fabrication, locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle (SoRoFAAM). As a carangiform swimmer, the most important part of SoRoFAAM-1, on the motion point of view, is its tail designed around a bidirectional flexible bending actuator by layered bonding technology. This actuator is made of two artificial muscle modules based on Shape Memory Alloy (SMA) wires. Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations. This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating. To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%, we developed a round-robin heating strategy. Furthermore, the thermomechanical model of actuator is built, and the thermal transformation is analysed. The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed. The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities. Moreover, SoRoFAAM-1 has a good bionic fidelity; in particular, a maneuverability of 0.15, a head swing factor of 0.38 and a Strouhal number of 0.61.

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来源期刊
Journal of Bionic Engineering
Journal of Bionic Engineering 工程技术-材料科学:生物材料
CiteScore
7.10
自引率
10.00%
发文量
162
审稿时长
10.0 months
期刊介绍: The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.
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