Snake Robots(SR)have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments,a characteristic not found in other kinds of robots(like wheeled or leg...Snake Robots(SR)have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments,a characteristic not found in other kinds of robots(like wheeled or legged robots).Underwater Snake Robots(USR)establish a bioinspired solution in the domain of underwater robotics.It is a key challenge to increase the motion efficiency in underwater robots,with respect to forwarding speed,by enhancing the locomotion method.At the same time,energy efficiency is also considered as a crucial issue for long-term automation of the systems.In this aspect,the current research paper concentrates on the design of effectual Locomotion of Bioinspired Underwater Snake Robots using Metaheuristic Algorithm(LBIUSR-MA).The proposed LBIUSR-MA technique derives a bi-objective optimization problem to maximize the ForwardVelocity(FV)and minimize the Average Power Consumption(APC).LBIUSR-MA technique involves the design ofManta Ray Foraging Optimization(MRFO)technique and derives two objective functions to resolve the optimization issue.In addition to these,effective weighted sum technique is also used for the integration of two objective functions.Moreover,the objective functions are required to be assessed for varying gait variables so as to inspect the performance of locomotion.A detailed set of simulation analyses was conducted and the experimental results demonstrate that the developed LBIUSR-MA method achieved a low Average Power Consumption(APC)value of 80.52W underδvalue of 50.The proposed model accomplished the minimum PAC and maximum FV of USR in an effective manner.展开更多
Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints,which enable effective movement through constrained pathways.However,their high degrees of freed...Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints,which enable effective movement through constrained pathways.However,their high degrees of freedom in fully actuated systems engender significant challenges in reducing energy consumption.To address these challenges,this paper derives insights from the muscle functions of biological snakes and investigates the integration of compliance passive joints into snake-like robots,with the aim of enhancing locomotion efficiency.Passive joints,equipped with torsional springs,facilitate indirect actuation through energy storage and release.Under such background,we propose a dynamic model to investigate the influence of passive joints on locomotion performance.Simulations are utilized to analyze the effects of varying spring stiffness beyond experimental constraints.To facilitate systematic validation,a modular snake-like robot is designed.It allows flexible joint configurations,reassembly,and adjustable joint placements.Additionally,passive joint mechanism is refined to eliminate the requirements for motor gear reconfiguration,thereby improving experimental adaptability.The proposed model is evaluated through simulations and experiments to investigate the effects of joint stiffness on locomotion speed,while energy efficiency is analyzed experimentally.The results reveal that appropriate stiffness parameters significantly enhance motion efficiency.Moreover,the placement of passive joints plays a key role in the robot's motion performance.Among all configurations,a compliant passive tail joint with an appropriate spring setup achieves the best performance.It increases motion speed by 26.8%and reduces energy consumption by 52.2%.These findings provide insights into the role of passive joints in snake-like robots,potentially contributing to future design improvements in locomotion efficiency and adaptability.展开更多
The self-propulsion of a 3-D flapping flexible plate in a stationary fluid is numerically studied by an immersed boundarylattice Boltzmann method for the fluid flow and a finite element method for the plate motion. Wh...The self-propulsion of a 3-D flapping flexible plate in a stationary fluid is numerically studied by an immersed boundarylattice Boltzmann method for the fluid flow and a finite element method for the plate motion. When the leading-edge of the plate is forced to heave sinusoidally, the entire plate starts to move freely as a result of the fluid-structure interaction. Based on our simulation and analysis on the dynamical behaviors of the flapping flexible plate, we have found that the effect of plate aspect ratio on its propulsive properties can be divided into three typical regimes which are related to the plate flexibility, i.e. stiff, medium flexible, and more flexible regime. It is also identified that a suitable structure flexibility, corresponding to the medium flexible regime, can improve the propulsive speed and efficiency. The wake behind the flapping plate is investigated for several aspect ratios to demonstrate some typical vortical structures. The results obtained in this study can provide some physical insights into the understanding of the propulsive mechanisms in the flapping-based locomotion.展开更多
文摘Snake Robots(SR)have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments,a characteristic not found in other kinds of robots(like wheeled or legged robots).Underwater Snake Robots(USR)establish a bioinspired solution in the domain of underwater robotics.It is a key challenge to increase the motion efficiency in underwater robots,with respect to forwarding speed,by enhancing the locomotion method.At the same time,energy efficiency is also considered as a crucial issue for long-term automation of the systems.In this aspect,the current research paper concentrates on the design of effectual Locomotion of Bioinspired Underwater Snake Robots using Metaheuristic Algorithm(LBIUSR-MA).The proposed LBIUSR-MA technique derives a bi-objective optimization problem to maximize the ForwardVelocity(FV)and minimize the Average Power Consumption(APC).LBIUSR-MA technique involves the design ofManta Ray Foraging Optimization(MRFO)technique and derives two objective functions to resolve the optimization issue.In addition to these,effective weighted sum technique is also used for the integration of two objective functions.Moreover,the objective functions are required to be assessed for varying gait variables so as to inspect the performance of locomotion.A detailed set of simulation analyses was conducted and the experimental results demonstrate that the developed LBIUSR-MA method achieved a low Average Power Consumption(APC)value of 80.52W underδvalue of 50.The proposed model accomplished the minimum PAC and maximum FV of USR in an effective manner.
文摘Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints,which enable effective movement through constrained pathways.However,their high degrees of freedom in fully actuated systems engender significant challenges in reducing energy consumption.To address these challenges,this paper derives insights from the muscle functions of biological snakes and investigates the integration of compliance passive joints into snake-like robots,with the aim of enhancing locomotion efficiency.Passive joints,equipped with torsional springs,facilitate indirect actuation through energy storage and release.Under such background,we propose a dynamic model to investigate the influence of passive joints on locomotion performance.Simulations are utilized to analyze the effects of varying spring stiffness beyond experimental constraints.To facilitate systematic validation,a modular snake-like robot is designed.It allows flexible joint configurations,reassembly,and adjustable joint placements.Additionally,passive joint mechanism is refined to eliminate the requirements for motor gear reconfiguration,thereby improving experimental adaptability.The proposed model is evaluated through simulations and experiments to investigate the effects of joint stiffness on locomotion speed,while energy efficiency is analyzed experimentally.The results reveal that appropriate stiffness parameters significantly enhance motion efficiency.Moreover,the placement of passive joints plays a key role in the robot's motion performance.Among all configurations,a compliant passive tail joint with an appropriate spring setup achieves the best performance.It increases motion speed by 26.8%and reduces energy consumption by 52.2%.These findings provide insights into the role of passive joints in snake-like robots,potentially contributing to future design improvements in locomotion efficiency and adaptability.
基金supported by the National Natural Science Foun-dation of China(Grant No.11372304)the 111 Project(Grant No.B07033)
文摘The self-propulsion of a 3-D flapping flexible plate in a stationary fluid is numerically studied by an immersed boundarylattice Boltzmann method for the fluid flow and a finite element method for the plate motion. When the leading-edge of the plate is forced to heave sinusoidally, the entire plate starts to move freely as a result of the fluid-structure interaction. Based on our simulation and analysis on the dynamical behaviors of the flapping flexible plate, we have found that the effect of plate aspect ratio on its propulsive properties can be divided into three typical regimes which are related to the plate flexibility, i.e. stiff, medium flexible, and more flexible regime. It is also identified that a suitable structure flexibility, corresponding to the medium flexible regime, can improve the propulsive speed and efficiency. The wake behind the flapping plate is investigated for several aspect ratios to demonstrate some typical vortical structures. The results obtained in this study can provide some physical insights into the understanding of the propulsive mechanisms in the flapping-based locomotion.
