A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio-mimicking Motion

作     者：Shokoofeh Abbaszadeh Roberto Leidhold Stefan Hoerner Shokoofeh Abbaszadeh;Roberto Leidhold;Stefan Hoerner

作者机构：Institute of Electrical Power SystemsDepartment of Electrical Engineering and Information TechnologyOtto-Von-Guericke University of MagdeburgUniversitätsplatz 239106MagdeburgGermany Institute of Fluid Dynamics and ThermodynamicsDepartment of Process and Systems EngineeringOtto-Von-Guericke University of MagdeburgUniversitätsplatz 239106MagdeburgGermany 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2022年第19卷第1期

页      面：16-28页

核心收录：

学科分类：0710[理学-生物学] 080202[工学-机械电子工程] 08[工学] 09[农学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0901[农学-作物学] 0836[工学-生物工程] 0811[工学-控制科学与工程] 090102[农学-作物遗传育种] 

基　　金：Open Access funding enabled and organized by Projekt DEAL part of the RETERO project(https://retero.org).S.A.was funded by the German Ministry of Education and Research(BMBF)with grant number 031L0152A 

主　　题：Unconventional drive system Biologically inspired robots Biomimetics Flexible robots 

摘      要：Fish mortality assessments for turbine passages are currently performed by live-animal testing with up to a hundred thousand fish per year in Germany.A propelled sensor device could act as a fish *** this context,the study presented here investigates the state of the art via a thorough literature review on propulsion systems for aquatic *** evaluation of propulsion performance,weight,size and complexity of the motion achievable allows for the selection of an optimal concept for such a fish mimicking device carrying the *** the second step,the design of a bioinspired soft robotic fish driven by an unconventional drive system is *** is based on piezoceramic actuators,which allow for motion with five degrees of freedom(DOF)and the creation of complex bio-mimicking body motions.A kinematic model for the motion’s characteristics is developed,to achieve accurate position feedback with the use of strain *** measurements validate the complex deformation of the body and deliver the basis for the calibration of the kinematic ***,it can be shown,that the calibrated model presented allows the tracking of the deformation of the entire body with an accuracy of 0.1 mm.