论文标题
捕捉高速和高效的蝴蝶泳式柔软的翅膀机器人
Snapping for high-speed and high-efficient, butterfly swimming-like soft flapping-wing robot
论文作者
论文摘要
自然选择已经调整了许多跨不同物种的飞行和游泳动物，以共享相同的狭窄设计空间，以实现最佳的高效和节能运动，例如，它们的无量纲曲霉数量ST，与触摸频率和振幅相关，并且向前速度与0.2 <st <st <0.4的范围内，以提高峰值推进效率。由于观察到的自然界中狭窄的最佳设计空间和柔软的身体的依从性，因此实现具有高性能的快速和高效柔软的游泳机器人，这是一项挑战。在这里，在飞行和游泳动物的机翼或鳍片拍摄的动作中，我们报告了在可扣紧且可折叠式柔性的预弯曲机翼中抢购不稳定性的通用原则，以提供高性能，蝴蝶游泳状的，类似于蝴蝶的柔软，柔软的吹翼机器人。柔软的游泳机器人轻巧（2.8克），并且显示出3.74车身长度 /S的创纪录速度（比报告的最快的软游泳器快4.8倍），高效（0.2 <st = 0.25 <0.4），能耗低的能量消耗成本，低可操作性和高可操作性（高机动性速度（高转盘速度为157O /s）。其高性能在很大程度上胜过最先进的柔软的游泳机器人，甚至与其生物学对应物相当。
Natural selection has tuned many flying and swimming animals across different species to share the same narrow design space for optimal high-efficient and energy-saving locomotion, e.g., their dimensionless Strouhal numbers St that relate flapping frequency and amplitude and forward speed fall within the range of 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging to achieve both fast and high-efficient soft-bodied swimming robots with high performances that are comparable to marine animals, due to the observed narrow optimal design space in nature and the compliance of soft body. Here, bioinspired by the wing or fin flapping motion in flying and swimming animals, we report leveraging the generic principle of snapping instabilities in the bistable and multistable flexible pre-curved wings for high-performance, butterfly swimming-like, soft-bodied flapping-wing robots. The soft swimming robot is lightweight (2.8 grams) and demonstrates a record-high speed of 3.74 body length/s (4.8 times faster than the reported fastest soft swimmer), high-efficient (0.2 < St = 0.25 < 0.4), low energy consumption cost, and high maneuverability (a high turning speed of 157o /s). Its high performances largely outperform the state-of-the-art soft swimming robots and are even comparable to its biological counterparts.
