通过可调刚度尾部模拟鱼游动，提升机器鱼推进效率
Experimental study of fish-like bodies with passive tail and tunable stiffness
- 用扭转弹簧设计可调刚度尾部，模仿真实鱼类摆动机制
- 频率1-3 Hz时，速度超1体长/秒，斯特劳哈尔数处于最优范围
- 刚度调节使机器人形变符合鱼类行波运动，适合仿生水下机器人研究
金枪鱼类鱼类是高效的游泳者，能最大化性能以逃避捕食者并节省长途迁徙的能量。实现这一目标的关键在于尾部的柔韧性，鱼类在游动中会动态优化其尾部灵活性。尽管现有机器人平台已具备高效率，但对柔韧性重要性的研究仍不充分。本文设计并测试了一款长度为30厘米的类鱼机器人平台，其尾部通过在尾柄处安装扭转弹簧实现柔性。通过测量机体运动学、受力及功耗，并与真实鱼类对比，发现该平台可在1–3 Hz频率范围内自推进，速度超过1体长/秒，斯特劳哈尔数处于最优区间。研究显示，调节频率可影响推进力和功耗；通过合理调校刚度，机器人可实现与真实鱼类一致的行波形变机制。这些结果验证了调节刚度在鱼类游泳中的潜力，为仿生水下航行器的柔性设计提供了基础。
原文摘要 · Abstract (English)
Scombrid fishes and tuna are efficient swimmers capable of maximizing performance to escape predators and save energy during long journeys. A key aspect in achieving these goals is the flexibility of the tail, which the fish optimizes during swimming. Though, the robotic counterparts, although highly efficient, have partially investigated the importance of flexibility. We have designed and tested a fish-like robotic platform (of 30 cm in length) to quantify performance with a tail made flexible through a torsional spring placed at the peduncle. Body kinematics, forces, and power have been measured and compared with real fish. The platform can vary its frequency between 1 and 3 Hz, reaching self-propulsion conditions with speed over 1 BL/s and Strouhal number in the optimal range. We show that changing the frequency of the robot can influence the thrust and power achieved by the fish-like robot. Furthermore, by using appropriately tuned stiffness, the robot deforms in accordance with the travelling wave mechanism, which has been revealed to be the actual motion of real fish. These findings demonstrate the potential of tuning the stiffness in fish swimming and offer a basis for investigating fish-like flexibility in bio-inspired underwater vehicles.
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