The elastic oscillation structure based on central pattern generators(CPGs),which can produce rhythmic motions,is discussed.First,Hopf CPG,the typical CPG model,being a signal generator for the elastic oscillation str...The elastic oscillation structure based on central pattern generators(CPGs),which can produce rhythmic motions,is discussed.First,Hopf CPG,the typical CPG model,being a signal generator for the elastic oscillation structure,is analysed via the theory of differential equations.Next,the well-posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi-group theory.Then,the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network.Finally,the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.展开更多
Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile b...Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile behaviours of DE film VHB4905 are studied,and the Ogden constitutive equation is employed to describe the stress‐strain behaviour of the DE film.The fabrication processes of the robotic fish,including prestretching treatment of the DE films,electrode coating with carbon paste,and waterproof treatment,are illustrated in detail.The dynamic response of the fabricated DE actuators under different excitation voltages is tested based on the experimental setup.Experimental results show that the first‐order natural frequencies of the obtained DE actuator in air is 4.05 Hz.Finally,the swimming performances of the proposed robotic fish at different driving levels are demonstrated,and it achieves an average swimming speed of 20.38 mm/s,with a driving voltage of 5kV at 0.8 Hz.展开更多
基金National Key Research and Development Programme of China,Grant/Award Number:2019YFB1705800National Natural Science Foundation of China,Grant/Award Number:61973270+2 种基金Foundation for Innovative Research Groups of the National Natural Science Foundation of China,Grant/Award Number:61621002Natural Science Foundation of Ningbo,Grant/Award Number:2019A610112Projects in Science and Technique Plans of Ningbo City,Grant/Award Number:2019B10100。
文摘The elastic oscillation structure based on central pattern generators(CPGs),which can produce rhythmic motions,is discussed.First,Hopf CPG,the typical CPG model,being a signal generator for the elastic oscillation structure,is analysed via the theory of differential equations.Next,the well-posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi-group theory.Then,the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network.Finally,the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.
基金supported by the Zhejiang Provincial Natural Science Foundation of China(Nos.LGF21E050002&LY21F030003)Fundamental Research Funds for the Provincial Universities of Zhejiang(No.SJLY2021014)+2 种基金Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University(No.ICT2022B22)Projects in Science and Technique Plans of Ningbo City(No.2019B10100)General Scientific Research Project of Education Department of Zhejiang Province(No.Y201839158).
文摘Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many applications.In this study,a robotic fish actuated by dielectric elastomer(DE)films is proposed.The tensile behaviours of DE film VHB4905 are studied,and the Ogden constitutive equation is employed to describe the stress‐strain behaviour of the DE film.The fabrication processes of the robotic fish,including prestretching treatment of the DE films,electrode coating with carbon paste,and waterproof treatment,are illustrated in detail.The dynamic response of the fabricated DE actuators under different excitation voltages is tested based on the experimental setup.Experimental results show that the first‐order natural frequencies of the obtained DE actuator in air is 4.05 Hz.Finally,the swimming performances of the proposed robotic fish at different driving levels are demonstrated,and it achieves an average swimming speed of 20.38 mm/s,with a driving voltage of 5kV at 0.8 Hz.
