A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation
Numerous proposals and recommendations have been made in the development of underwater undulation robots, but very few studies have focused on the undulation characteristics of undulation robots. The undulating mode of the clearnose skate utilizing the activation of the pectoral fins in undulatory b...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-12-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202300357 |
| _version_ | 1797378740154531840 |
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| author | Rui Liu Yifeng Wu Jiamei Jin Liang Wang Rui Qi Pengpeng Yu |
| author_facet | Rui Liu Yifeng Wu Jiamei Jin Liang Wang Rui Qi Pengpeng Yu |
| author_sort | Rui Liu |
| collection | DOAJ |
| description | Numerous proposals and recommendations have been made in the development of underwater undulation robots, but very few studies have focused on the undulation characteristics of undulation robots. The undulating mode of the clearnose skate utilizing the activation of the pectoral fins in undulatory bursts is particularly suitable for slow and efficient swimming. Inspired by the working principle of the clearnose skate, herein, an undulation robotic structure is presented. Considering the hydrodynamic skeleton and propulsion mechanism of the clearnose skate, the solution is based on a piezoelectric composite for realizing undulatory propulsion. This approach leverages the converse piezoelectric effect and modal coupling to produce the desired undulating motion, thereby achieving the undulation design of the robot. The proposed robotic structure can realize the propulsion mode using piezoelectric composites to undulate in the same direction and can use the clockwise or counterclockwise undulation of piezoelectric composites to achieve the steering mode. In addition, finite element analysis is employed as an approach to investigate the undulation characteristics and transient vibration characteristics of the robot. The operational efficiency of the robotic structure is assessed through experiments. The results show that the propulsion mode achieves the speed of 3.33 body‐length s−1. The steering mode exhibits the steering velocities of 17.4 deg s−1. |
| first_indexed | 2024-03-08T20:12:03Z |
| format | Article |
| id | doaj.art-6dd6a272f38049f687abfdfc401c7e25 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-08T20:12:03Z |
| publishDate | 2023-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-6dd6a272f38049f687abfdfc401c7e252023-12-23T04:53:50ZengWileyAdvanced Intelligent Systems2640-45672023-12-01512n/an/a10.1002/aisy.202300357A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental InvestigationRui Liu0Yifeng Wu1Jiamei Jin2Liang Wang3Rui Qi4Pengpeng Yu5State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Yudao 29 Nanjing 210016 ChinaNumerous proposals and recommendations have been made in the development of underwater undulation robots, but very few studies have focused on the undulation characteristics of undulation robots. The undulating mode of the clearnose skate utilizing the activation of the pectoral fins in undulatory bursts is particularly suitable for slow and efficient swimming. Inspired by the working principle of the clearnose skate, herein, an undulation robotic structure is presented. Considering the hydrodynamic skeleton and propulsion mechanism of the clearnose skate, the solution is based on a piezoelectric composite for realizing undulatory propulsion. This approach leverages the converse piezoelectric effect and modal coupling to produce the desired undulating motion, thereby achieving the undulation design of the robot. The proposed robotic structure can realize the propulsion mode using piezoelectric composites to undulate in the same direction and can use the clockwise or counterclockwise undulation of piezoelectric composites to achieve the steering mode. In addition, finite element analysis is employed as an approach to investigate the undulation characteristics and transient vibration characteristics of the robot. The operational efficiency of the robotic structure is assessed through experiments. The results show that the propulsion mode achieves the speed of 3.33 body‐length s−1. The steering mode exhibits the steering velocities of 17.4 deg s−1.https://doi.org/10.1002/aisy.202300357biomimetic roboticsfinite element analysispiezoelectric composite actuatorsunderwater undulatory roboticsundulation characteristics analysis |
| spellingShingle | Rui Liu Yifeng Wu Jiamei Jin Liang Wang Rui Qi Pengpeng Yu A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation Advanced Intelligent Systems biomimetic robotics finite element analysis piezoelectric composite actuators underwater undulatory robotics undulation characteristics analysis |
| title | A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation |
| title_full | A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation |
| title_fullStr | A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation |
| title_full_unstemmed | A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation |
| title_short | A Biomimetic Piezoelectric Composite‐Driven Undulation Underwater Robotic Structure: Characteristic Analysis and Experimental Investigation |
| title_sort | biomimetic piezoelectric composite driven undulation underwater robotic structure characteristic analysis and experimental investigation |
| topic | biomimetic robotics finite element analysis piezoelectric composite actuators underwater undulatory robotics undulation characteristics analysis |
| url | https://doi.org/10.1002/aisy.202300357 |
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