School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
Soft Robot. 2019 Aug;6(4):520-531. doi: 10.1089/soro.2018.0079. Epub 2019 Apr 13.
We described a tensegrity robotic fish and detailed its overall structure, stiffness, and mechatronics. The main flexible structure of the robotic fish body was composed with a series of rigid segments linked with tensegrity joints by means of tension elements. Each rigid segment can rotate around tensegrity-compliant joint and have no direct contact with each other. The dominant vibrational mode of the tensegrity robotic fish can be excited by a single harmonic input to mimic the desired kinematics of locomotion. For our tensegrity robotic fish, the experimental results showed that its maximum stride length was about 0.5 body length per cycle; its Strouhal number was roughly between 0.45 and 0.55 near the biological data of carangiform swimmers. Two different vibrational modes that can be achieved would be demonstrated by the harmonic analysis technique. The results indicated that the swimming performance can be improved by using tensegrity joints.
我们描述了一种张拉整体机器人鱼，并详细介绍了它的整体结构、刚度和机电一体化。机器人鱼体的主要柔性结构由一系列刚性节段组成，这些刚性节段通过张拉元件与张拉整体关节连接。每个刚性节段可以围绕张拉整体关节旋转，并且彼此之间没有直接接触。张拉整体机器人鱼的主要振动模态可以通过单个谐波输入来激发，以模拟所需的运动运动学。对于我们的张拉整体机器人鱼，实验结果表明，其最大步长约为每个周期 0.5 个体长；其斯特劳哈尔数在接近梭形游泳生物数据时大致在 0.45 和 0.55 之间。通过谐波分析技术可以实现两种不同的振动模态。结果表明，使用张拉整体关节可以提高游泳性能。
