Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots
Rowing motion with paired propellers is an essential actuation mechanism for swimming robots. Previous work in this field has typically employed flexible propellers to generate a net thrust or torque by using changes in the compliance values of flexible structures under the influence of a fluid. The...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-01-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/9/1/56 |
| _version_ | 1797344574432083968 |
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| author | Junzhe Hu Yaohui Xu Pengyu Chen Fengran Xie Hanlin Li Kai He |
| author_facet | Junzhe Hu Yaohui Xu Pengyu Chen Fengran Xie Hanlin Li Kai He |
| author_sort | Junzhe Hu |
| collection | DOAJ |
| description | Rowing motion with paired propellers is an essential actuation mechanism for swimming robots. Previous work in this field has typically employed flexible propellers to generate a net thrust or torque by using changes in the compliance values of flexible structures under the influence of a fluid. The low stiffness values of the flexible structures restrict the upper limit of the oscillation frequency and amplitude, resulting in slow swimming speeds. Furthermore, complex coupling between the fluid and the propeller reduce the accuracy of flexible propeller simulations. A design of a flexible passive joint paddle was proposed in this study, and a dynamics model and simulation of the paddle were experimentally verified. In order to optimize the straight swimming speed, a data-driven model was proposed to improve the simulation accuracy. The effects of the joint number and controller parameters on the robot’s straight swimming speed were comprehensively investigated. The multi-joint paddle exhibited significantly improved thrust over the single-joint paddle in a symmetric driving mode. The data-driven model reduced the total error of the simulated data of the propulsive force in the range of control parameters to 0.51%. Swimming speed increased by 3.3 times compared to baseline. These findings demonstrate the utility of the proposed dynamics and data-driven models in the multi-objective design of swimming robots. |
| first_indexed | 2024-03-08T11:04:41Z |
| format | Article |
| id | doaj.art-ba7210c309f74e0688c7c54f02423dd8 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-08T11:04:41Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-ba7210c309f74e0688c7c54f02423dd82024-01-26T15:16:57ZengMDPI AGBiomimetics2313-76732024-01-01915610.3390/biomimetics9010056Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming RobotsJunzhe Hu0Yaohui Xu1Pengyu Chen2Fengran Xie3Hanlin Li4Kai He5Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaShenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaChongqing University-University of Cincinnati Joint Co-op Institute, Chongqing University, Chongqing 400044, ChinaSchool of Artificial Intelligence, Shenzhen Polytechnic, Shenzhen 518055, ChinaShenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaShenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaRowing motion with paired propellers is an essential actuation mechanism for swimming robots. Previous work in this field has typically employed flexible propellers to generate a net thrust or torque by using changes in the compliance values of flexible structures under the influence of a fluid. The low stiffness values of the flexible structures restrict the upper limit of the oscillation frequency and amplitude, resulting in slow swimming speeds. Furthermore, complex coupling between the fluid and the propeller reduce the accuracy of flexible propeller simulations. A design of a flexible passive joint paddle was proposed in this study, and a dynamics model and simulation of the paddle were experimentally verified. In order to optimize the straight swimming speed, a data-driven model was proposed to improve the simulation accuracy. The effects of the joint number and controller parameters on the robot’s straight swimming speed were comprehensively investigated. The multi-joint paddle exhibited significantly improved thrust over the single-joint paddle in a symmetric driving mode. The data-driven model reduced the total error of the simulated data of the propulsive force in the range of control parameters to 0.51%. Swimming speed increased by 3.3 times compared to baseline. These findings demonstrate the utility of the proposed dynamics and data-driven models in the multi-objective design of swimming robots.https://www.mdpi.com/2313-7673/9/1/56flexible passive joint paddlemodeling optimizationsoft robotbionic robot |
| spellingShingle | Junzhe Hu Yaohui Xu Pengyu Chen Fengran Xie Hanlin Li Kai He Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots Biomimetics flexible passive joint paddle modeling optimization soft robot bionic robot |
| title | Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots |
| title_full | Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots |
| title_fullStr | Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots |
| title_full_unstemmed | Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots |
| title_short | Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots |
| title_sort | design and reality based modeling optimization of a flexible passive joint paddle for swimming robots |
| topic | flexible passive joint paddle modeling optimization soft robot bionic robot |
| url | https://www.mdpi.com/2313-7673/9/1/56 |
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