We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the implementation of a novel propulsion system that is capable of achieving higher oscillation frequencies with a more sinusoidal waveform, the open-source soft robotic fish was capable of achieving a top speed of 0.85 m/s. Hereby, it outperforms the previously reported fastest soft robotic fish by 27%. Besides the propulsion system, the optimization of the fish morphology played a crucial role in achieving this speed. In this work, a comprehensive overview of the optimization of the soft robotic fish through experimental, numerical and theoretical investigation into oscillating propulsion is presented. Hereby, we hope this open-source design will accelerate future research and developments in soft robotic fish.
翻译:我们介绍OpenFish:一种开放源的软机器人鱼,其速度和效率是最佳的。软机器人鱼使用一种主动和被动尾巴部分的组合来准确模仿全底游泳模式。通过实施一种能够以更正弦波状的波形实现更高振荡频率的新颖推进系统,开放源的软机器人鱼能够达到最高速度0.85米/秒。在此情况下,它比以前报告的最快的软机器人鱼高出27%。除了推进系统外,优化鱼形态在实现这一速度方面发挥了关键作用。在这项工作中,介绍了通过实验、数字和理论调查对振动推进进行软机器人鱼优化的全面概览。我们希望这种开放源设计将加快软机器人鱼的未来研究与发展。