论文标题
基于弹性不稳定的快速游泳机器人
Fast Swimming Robots Based on Elastic Instability
论文作者
论文摘要
受钢制剪发的快照作用的启发，我们提出了一种设计方法，用于表现出仿生形变和高运动性能的面内预应力机制。使用这种方法制造了合规的双向拍打机制，并安装在我们不受限制的软机器人鱼上。使用这种机制，我们实现了栩栩如生的起伏，曲线数（1）为ST = 0.28，速度为2.03个体长度每秒（43.6 cm/s），比过去兼容的鱼机器人提高了三倍。束缚的气动版本表明该机制与软执行器兼容。我们在计算和实验上研究了该机制，并表明弹性不稳定性可能提供了克服软机器人的速度挑战的途径。
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated using this method and are mounted on our untethered soft robotic fish. Using this mechanism, we achieve life-like undulation with a Strouhal number (1) of St = 0.28 and a velocity of 2.03 body lengths per second (43.6 cm/s), a three-fold improvement over past compliant fish robots. A tethered pneumatic version indicates that this mechanism is compatible with soft actuators. We study the mechanism both computationally and experimentally and suggest that elastic instability may offer a path to overcome the speed challenge of soft and compliant robots.
