基于弹性失稳的快速游泳机器人
Fast Swimming Robots Based on Elastic Instability
AI总结：
受钢制发夹弹跳启发，研究提出面内预应力双稳态拍动机构设计方法，装配于无系绳软体机器鱼后速度达2.03体长每秒，为过往柔性机器鱼的三倍，为解决软体机器人速度难题提供新思路。
摘要：
受钢制发夹的弹跳动作启发，我们提出了一种面内预应力机构的设计方法，该机构具备仿生形变能力与高运动性能。我们采用该方法制造了柔性双稳态拍动机构，并将其安装在我们的无系绳软体机器鱼上。借助该机构，我们实现了逼真的波动运动，其Strouhal数（斯特劳哈尔数）St=0.28，速度达2.03倍体长每秒（43.6厘米/秒），较以往的柔性机器鱼提升了三倍。带系绳的气动版本实验表明，该机构与软体驱动器兼容。我们通过计算与实验两种方式对该机构展开研究，指出弹性失稳或可为克服软体及柔性机器人的速度难题提供一条途径。
英文摘要：
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated using this method and are mounted on our untethered soft robotic fish. Using this mechanism, we achieve life-like undulation with a Strouhal number (1) of St = 0.28 and a velocity of 2.03 body lengths per second (43.6 cm/s), a three-fold improvement over past compliant fish robots. A tethered pneumatic version indicates that this mechanism is compatible with soft actuators. We study the mechanism both computationally and experimentally and suggest that elastic instability may offer a path to overcome the speed challenge of soft and compliant robots.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
