典型文献
A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio-mimicking Motion
文献摘要：
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 surrogate.In this context,the study presented here investigates the state of the art via a thorough literature review on propulsion systems for aquatic robots.An 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 sensors.In the second step,the design of a bioinspired soft robotic fish driven by an unconventional drive system is described.It 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 character-istics is developed,to achieve accurate position feedback with the use of strain gauges.Optical measurements validate the complex deformation of the body and deliver the basis for the calibration of the kinematic model.Finally,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.
文献关键词：
中图分类号：
作者姓名：
Shokoofeh Abbaszadeh;Roberto Leidhold;Stefan Hoerner
作者机构：
Institute of Electrical Power Systems,Department of Electrical Engineering and Information Technology,Otto-Von-Guericke University of Magdeburg,Universit?tsplatz 2,39106 Magdeburg,Germany;Institute of Fluid Dynamics and Thermodynamics,Department of Process and Systems Engineering,Otto-Von-Guericke University of Magdeburg,Universit?tsplatz 2,39106 Magdeburg,Germany
文献出处：
引用格式：
[1]Shokoofeh Abbaszadeh;Roberto Leidhold;Stefan Hoerner-.A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio-mimicking Motion)[J].仿生工程学报（英文版）,2022(01):16-28
A类：
piezoceramic
B类：
Design,Concept,Kinematic,Model,Soft,Aquatic,Robot,Complex,Bio,mimicking,Motion,Fish,mortality,assessments,turbine,passages,are,currently,performed,by,animal,testing,up,hundred,thousand,fish,year,Germany,propelled,device,could,surrogate,In,this,context,study,presented,here,investigates,state,art,via,thorough,literature,review,propulsion,systems,aquatic,robots,An,evaluation,performance,weight,size,complexity,achievable,allows,selection,optimal,concept,such,carrying,sensors,second,step,design,bioinspired,soft,robotic,driven,unconventional,described,It,actuators,which,five,degrees,freedom,DOF,creation,body,motions,kinematic,model,character,istics,developed,achieve,accurate,position,feedback,use,strain,gauges,Optical,measurements,validate,deformation,deliver,basis,calibration,Finally,can,shown,that,calibrated,tracking,entire,accuracy
AB值：
0.645168
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
