IMECH-IR  > 非线性力学国家重点实验室
Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish
Li L; Lv J; Chen W; Wang W; Zhang X(张星); Xie GM; Li, L (reprint author), Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China.
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
2016
Volume13Pages:102
ISSN1729-8806
AbstractIn this paper, we applied the Taguchi method to evaluate the maximum swimming speed of a robotic fish under the limitation of the output of the motor. Four factors were considered in the optimization: the caudal-fin aspect ratio, the caudal fin stiffness, the oscillating frequency and the stiffness of the spring that transmits forces from the actuators to the foil. Because of the power limitations, the parameter's space was irregular. Since the Taguchi method requires a regular parameter space, we divided the parameter space into a regular space and the remaining irregular spaces. Within only 25 trials, the frequency and the spring stiffness were determined as the main factors in the regular space by the orthogonal design. Six more trials were carried out in the remaining irregular space with a higher frequency and spring stiffness. The fastest swimming speed of 870 mm/s, approximately 2.6 BL (Body Lengths)/s, was acquired, when the frequency reached 12Hz and with infinite spring stiffness. This method is efficient for exploring the maximum locomotor capabilities of robotic fish and may also be useful for other robots as no modelling is required.
KeywordConcrete Sulfate Attack Damage Evolution Chemical Reaction Ultrasonic Technique
DOI10.5772/64039
URL查看原文
Indexed BySCI ; EI
Language英语
WOS IDWOS:000377333100003
WOS KeywordConcrete ; Sulfate attack ; Damage evolution ; Chemical reaction ; Ultrasonic technique
WOS Research AreaRobotics
WOS SubjectRobotics
DepartmentLNM湍流
ClassificationQ4
RankingFalse
Citation statistics
Document Type期刊论文
Identifierhttp://dspace.imech.ac.cn/handle/311007/59533
Collection非线性力学国家重点实验室
Corresponding AuthorLi, L (reprint author), Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China.
Recommended Citation
GB/T 7714
Li L,Lv J,Chen W,et al. Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:102.
APA Li L.,Lv J.,Chen W.,Wang W.,张星.,...&Li, L .(2016).Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,102.
MLA Li L,et al."Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):102.
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