工程设计学报2025，Vol.32Issue(3)：326-333,8.DOI:10.3785/j.issn.1006-754X.2025.04.136
基于Water Bomb折纸结构的软体机器鱼设计与性能分析
Design and performance analysis of soft robotic fish based on Water Bomb origami structure
摘要
Abstract
At present,robotic fish made mainly of rigid materials have good control accuracy and relatively fast swimming speed in water.However,due to the high rigidity of rigid materials,the robotic fish usually cannot adapt well to the narrow passages in water.To solve the above problems,the origami structure was applied to the structural design of robotic fish,and a soft robotic fish that could pass through narrow passages in water and had good swimming performance was designed.This robotic fish was composed of a head,a trunk and a tail.The trunk part adopted the Water Bomb origami structure,and the radial change of the trunk part was achieved by the contraction and expansion of the origami structure.The tail used the bending of the soft origami driver to achieve swing,thereby enabling the forward movement and turning of the robotic fish.The movement of the robotic fish in the water tank was measured through experiments.Its maximum swimming speed was 72.67 mm/s,the fastest turning speed was 10.67(°)/s,and it could move stably under the condition of a maximum load of 150 g.The results show that the designed robotic fish can not only move flexibly in water,but also utilize the folding characteristics of the trunk part to pass through some narrow passages and obstacles,which provides a new idea for the design and research of soft robotic fish.关键词
软体机器鱼/软体折纸驱动器/Water Bomb折纸结构/折叠特性Key words
soft robotic fish/soft origami driver/Water Bomb origami structure/folding characteristics分类
机械工程引用本文复制引用
张宇,楚凯,舒申,王家梁,周浩,胡俊峰..基于Water Bomb折纸结构的软体机器鱼设计与性能分析[J].工程设计学报,2025,32(3):326-333,8.基金项目
国家自然科学基金资助项目(52165011) （52165011）
江西省自然科学基金资助项目(20212BAB204028) （20212BAB204028）
江西省自然科学基金重点项目(联合资助)(20202ACBL204009) （联合资助）
江西省研究生创新专项资金项目(YC2023-S652) （YC2023-S652）
