Pubblicazione scientifica

Design and Modeling of a Biomimetic Wire-driven Soft Robotic Fish

FILONE TECNOLOGICO	TEMA
trasformazione e commercializzazione

RIASSUNTO

This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory motion by controlling the two wires. The barycenter control mechanism enables the soft robotic fish to float and sink. The kinematics model is built based on Lighthill's elongated body theory. The biomimetic wire-driven soft robotic fish is simple in structure and easy to manipulate. The simulation results show that this soft robotic fish well resembles the real fish swimming body curve and validate the performance of the wire-driven design.

DATA

Data di pubblicazione: 01/11/2019

AUTORI

YUN JIANG
XIAOCHENG LIU
HONG CHEN
WEIJIE GONG
YU LU
WEIDONG ZHANG

ENTE DI AFFERENZA

SHANGHAI JIAO TONG UNIVERSITYDEPARTMENT OF AUTOMATIONSHANGHAICHINA200240
SHENZHEN UNIVERSITYCOLLEGE OF MECHATRONICS & CTRL ENGINEERINGSHENZHENCHINA518060

RIVISTA

2019 Chinese Automation Congress (CAC) (Page(s): 1778-1782)

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