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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (1): 38-44    DOI: 10.1049/iet-csr.2018.0005
    
通过策略搜索实现机器鱼尾鳍的高效推力产生
Yixi Shan1 , Yagiz E. Bayiz1 , Bo Cheng1
1 Department of Mechanical Engineering, The Pennsylvania State University, State College, United States of America
Efficient thrust generation in robotic fish caudal fins using policy search
Yixi Shan1 , Yagiz E. Bayiz1 , Bo Cheng1
1 Department of Mechanical Engineering, The Pennsylvania State University, State College, United States of America
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摘要： 推力产生是鱼类运动的一个重要方面，取决于各种形态和运动学参数。本文对机器鱼尾鳍运动的运动学进行了实验优化。机器鱼通过拍动和旋转运动来驱动尾鳍，并测量的水动力和扭矩。本文研究了三种不同形状(或倾斜角)和三种不同刚度共九种不同设计的尾鳍。优化是基于策略搜索(PS)算法，该算法用于最大限度地提高尾翼的推力产生效率。作者首先利用旋转幅度和相位延迟参数化鳍的展向旋转为正弦函数，并对其是否有利于提高推力产生效率进行了测试。结果表明，旋转对效率没有影响，因为效率在零幅度时达到最大值。接着，作者优化了没有鳍片旋转的拍动幅度和轨迹轮廓。结果表明，越小的拍动幅度可以获得越高的效率，线性拍动轨迹优于正弦拍动轨迹。柔性最高的鳍片在产生推力时效率更高，但产生的推力更小，而倾角30°的鳍片形状产生的效率最高。
关键词： marine propulsion;  hydrodynamics;  robot dynamics;  aerodynamics;  biomimetics;  underwater vehicles;  actuators;  robot kinematics;  mobile robots;  aerospace components    
Abstract: Thrust generation is a crucial aspect of fish locomotion that depends on a variety of morphological and kinematic parameters. In this work, the kinematics of caudal fin motion of a robotic fish are optimised experimentally. The robotic fish actuates its caudal fin with flapping and rotation motion, and also measures the fin hydrodynamic force and torque. Total nine designs of the caudal fins are investigated, with three different shapes (or inclination angles) and three stiffness. The optimisation is based on a policy search (PS) algorithm, which is used to maximise the thrust-generation efficiency of the caudal fins. The authors first parametrise fin spanwise-rotation as a sinusoidal function using rotation amplitude and phase delay and test whether it is beneficial to thrust-generation efficiency. The result shows that the rotation does not contribute to the efficiency, as the efficiency is maximised at zero amplitude. Next, the authors optimise flapping amplitude and trajectory profile without fin rotation. Results show that smaller flapping amplitude results in higher efficiency and linear flapping trajectories are preferred over sinusoidal ones. Fins that have the highest flexibility are more efficient in thrust generation although they generate less thrust, while an inclination angle of 30° yields the most efficient fin shape.
Key words: marine propulsion    hydrodynamics    robot dynamics    aerodynamics    biomimetics    underwater vehicles    actuators    robot kinematics    mobile robots    aerospace components
收稿日期: 2019-01-02 出版日期: 2019-05-10
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Yixi Shan
Yagiz E. Bayiz
Bo Cheng

引用本文:

Yixi Shan, Yagiz E. Bayiz, Bo Cheng. Efficient thrust generation in robotic fish caudal fins using policy search. IET Cyber-Systems and Robotics, 2019, 1(1): 38-44.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2018.0005    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I1/38

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