Bioinspired Multi-material Polyjet-printed Frog Robot for Synchronous and Asynchronous Swimming  

作　　者：Afaque Manzoor Soomro Jae-Wook Lee Fida Hussain Memon Faheem Ahmed Kashif Hussain Kyung Hyun Choi 

机构地区：[1]Department of Mechatronics Engineering,Jeju National University,Jeju,63243,South Korea [2]Department of Electrical Engineering,Sukkur IBA University,Sukkur,65200,Pakistan

出　　处：《Journal of Bionic Engineering》2023年第3期923-933,共11页仿生工程学报（英文版）

基　　金：supported by the National Research Foundation of Korea(NRF)Grant funded by the Korea government(MSIT)(NRF-2022R1A2C2004771).

摘　　要：This paper proposes the bioinspired soft frog robot. All printing technology was used for the fabrication of the robot. Polyjet printing was used to print the front and back limbs, while ultrathin filament was used to print the body of the robot, which makes it a complete soft swimming robot. Dual thrust generation approach has been proposed by embedding the main muscle and antagonistic muscle in all the limbs, which enables it to attain high speed (18 mm/s), significant control to swim in dual mode (synchronous and asynchronous modes). To achieve the swimming motion of frog, four SMA (BMF 300) muscle wires were used. The frog robot is named as (FROBOT). The hind limbs are 60 mm long and 10 mm thick on average, while the front limbs are 35 mm long and 7 mm thick. Model-based design and rigorous analysis of the dynamics of real frogs have allowed FROBOT to be developed to swim at a level that is remarkably consistent with real frogs. Electrical and mechanical characteristics have been performed. In addition, the test data were further processed using TRACKER to analyze angle, displacement and velocity. FROBOT (weighs 65 g) can swim at different controllable frequencies (0.5–2 Hz), can rotate in any direction on command from custom built LabVIEW software allowing it to swim with speed up to 18 mm/s on deep water surface (100 cm) with excellent weight balance.

关 键 词：BIOINSPIRED Soft robotics FROG FROBOT Asynchronous swimming 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]