Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (1): 16-28.doi: 10.1007/s42235-021-00126-4
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A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio‑mimicking Motion
Shokoofeh Abbaszadeh1, Roberto Leidhold1, Stefan Hoerner2
- 1 Institute of Electrical Power Systems, Department of Electrical Engineering and Information Technology, OttoVon-Guericke University of Magdeburg, Universit?tsplatz 2, 39106 Magdeburg, Germany 2 Institute of Fluid Dynamics and Thermodynamics, Department of Process and Systems Engineering, Otto-Von-Guericke University of Magdeburg, Universit?tsplatz 2, 39106 Magdeburg, Germany
A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio‑mimicking Motion
Shokoofeh Abbaszadeh1, Roberto Leidhold1, Stefan Hoerner2
- 1 Institute of Electrical Power Systems, Department of Electrical Engineering and Information Technology, OttoVon-Guericke University of Magdeburg, Universitätsplatz 2, 39106 Magdeburg, Germany 2 Institute of Fluid Dynamics and Thermodynamics, Department of Process and Systems Engineering, Otto-Von-Guericke University of Magdeburg, Universitätsplatz 2, 39106 Magdeburg, Germany
摘要： Fish mortality assessments for turbine passages are currently performed by live-animal testing with up to a hundred thousand fsh per year in Germany. A propelled sensor device could act as a fsh surrogate. In this context, the study presented here investigates the state of the art via a thorough literature review on propulsion systems for aquatic robots. An evaluation of propulsion performance, weight, size and complexity of the motion achievable allows for the selection of an optimal concept for such a fsh mimicking device carrying the sensors. In the second step, the design of a bioinspired soft robotic fsh driven by an unconventional drive system is described. It is based on piezoceramic actuators, which allow for motion with fve degrees of freedom (DOF) and the creation of complex bio-mimicking body motions. A kinematic model for the motion’s characteristics is developed, to achieve accurate position feedback with the use of strain gauges. Optical measurements validate the complex deformation of the body and deliver the basis for the calibration of the kinematic model. Finally, it can be shown, that the calibrated model presented allows the tracking of the deformation of the entire body with an accuracy of 0.1 mm.