为软体鱼机器人设计一种受发夹启发的双稳态机构
Designing a Hair-Clip Inspired Bistable Mechanism for Soft Fish Robots
AI总结：
本研究针对软体机器人功能提升需求，基于前期提出的发夹双稳态机构，设计了由PETG、碳纤维增强塑料和钢制成的新型鱼机器人推进系统，推导验证相关理论并明确关键参数影响，可实现鱼类机器人的高频高速波动游泳。
摘要：
发夹机构（Hair clip mechanism, HCM）是我们在先前研究[1]~[5]中提出的一种面内预应力双稳态机构，旨在提升软体机器人的功能。与现有的软体及柔顺机器人相比，HCM具备刚度高、机动性强、重复性好以及设计与制造简便等诸多优势。\n本工作依托我们在鱼类机器人领域的研究经验，深入探究了一种由PETG塑料、碳纤维增强塑料（carbon fiber-reinforced plastic, CFRP）和钢制成的新型HCM机器人推进系统的设计方法。文中对HCM理论进行了详细推导与验证，并总结了尺寸、材料类型、伺服电机规格等关键参数的影响。该设计算法为HCM机器人研究提供了思路，可帮助我们筛选合适的组件，让机器人以期望频率运行，最终实现鱼类机器人的高频高速波动式游泳。
英文摘要：
The Hair clip mechanism (HCM) is an in-plane prestressed bistable mechanism proposed in our previous research [1]~[5] to enhance the functionality of soft robotics. HCMs have several advantages, such as high rigidity, high mobility, good repeatability, and design and fabrication simplicity, compared to existing soft and compliant robotics. Using our experience with fish robots, this work delves into designing a novel HCM robotic propulsion system made from PETG plastic, carbon fiber-reinforced plastic (CFRP), and steel. Detailed derivation and verification of the HCM theory are given, and the influence of key parameters like dimensions, material types, and servo motor specifications are summarized. The designing algorithm offers insight into HCM robotics. It enables us to search for suitable components, operate robots at a desired frequency, and achieve high-frequency and high-speed undulatory swimming for fish 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。
