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Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves.

Bingxing Chen1, Jie Zhang1, Qiuxu Meng1

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China.

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Summary

This study analyzes the complex modal characteristics of a tensegrity robotic fish, finding similarities to real fish. This analysis proposes an optimization strategy to enhance robotic fish swimming performance.

Keywords:
fish body wavetensegrity robotic fishtensegrity structurethe complex orthogonal decomposition methodtraveling index

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Area of Science:

  • Robotics
  • Biomimetics
  • Fluid Dynamics

Background:

  • Bionic robotic fish utilize compliant structures to mimic natural fish undulatory propulsion.
  • Understanding complex modal characteristics is crucial for enhancing robotic fish locomotion.
  • The interaction between body mechanics and fluid dynamics shapes fish body waves.

Purpose of the Study:

  • To analyze the complex modal characteristics of a tensegrity robotic fish.
  • To compare these characteristics with those of real fish.
  • To develop an optimization strategy for improving robotic fish swimming performance.

Main Methods:

  • Complex Orthogonal Decomposition (COD) was employed to analyze modal characteristics.
  • A traveling index was defined to quantify the difference between real and imaginary modes.
  • The structural design and parameter configuration of the tensegrity robotic fish were detailed.

Main Results:

  • The tensegrity robotic fish exhibited traveling indexes close to those of real fish.
  • Similar complex mode shapes were observed between the robotic and real fish.
  • A significant linear correlation was found between the traveling index and swimming performance (Rc and p value).

Conclusions:

  • The study successfully analyzed and compared the complex modal characteristics of a tensegrity robotic fish and real fish.
  • A preliminary optimization strategy based on the traveling index was proposed.
  • This strategy holds potential for improving the swimming performance of bionic robotic fish.