A dynamic model for robotic fish with flexible pectoral fins

Behbahani, Sanaz Bazaz; Wang, Jianxun; Tan, Xiaobo

doi:10.1109/aim.2013.6584316

Cited by 19 publications

(21 citation statements)

References 31 publications

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“…The blade element theory is used to evaluate the hydrodynamic forces generated by the pectoral fins' motion. The modeling framework is adapted from our prior work [15], which considered flexible pectoral fins, but with a rigid linkage between the pectoral fin and the actuator arm.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…The authors have presented a faithful and efficient dynamic model for a flexible pectoral fin-actuated robotic fish [15]. The pectoral fins considered in [15] as well as in most of the existing literature, however, are connected to the actuators via a rigid connection. Consequently, in order to generate net thrust during a beat cycle, one needs to use a recovery stroke that is much slower than the power stroke.…”

Section: Introductionmentioning

confidence: 99%

“…This design allows the pectoral fin to sweep back passively in the recovery stroke, which will result in a minimized drag force; on the other hand, the mechanical stopper will hold up the fin during the power stroke, to force it to follow the prescribed motion of the servo. Consequently, the design enables the fin to produce net thrust even when the servo is actuated to move its arm back and forth symmetrically, as opposed to different recovery and power stroke speeds required in the case of a rigid fin joint [15]. The flexible passive joint mechanism is designed in the SolidWorks R software in such a manner that it can accommodate different types of pectoral fins (either size or material), as shown in Fig 1. The passive joint mechanism has been prototyped using the Connex 350 3D printer from Objet, where the multi-material printing capability of the 3D printer is utilized to produce the mechanism as an integrated piece, shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

“…Besides providing a platform for underwater sensing, such as monitoring water quality [10], biomimetic robotic fish can also be used to interact with live fish and study their behavior [11]. A number of designs have been proposed for propelling a robotic fish, including, for example, oscillating caudal fins [12]- [14], paired pectoral fins [15]- [21], or the combination of both [5]. One of the main reasons that make pectoral fin actuation attractive, besides their role in propulsion, is their effectiveness in maneuvering [22].…”

Section: Introductionmentioning

confidence: 99%

“…There have been some limited works on flexible pectoral fins, the modeling of which has typically been based on Computational Fluid Dynamics (CFD) [16]- [18], [20], [31], [32]. The authors have presented a faithful and efficient dynamic model for a flexible pectoral fin-actuated robotic fish [15]. The pectoral fins considered in [15] as well as in most of the existing literature, however, are connected to the actuators via a rigid connection.…”

Section: Introductionmentioning

confidence: 99%

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A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Behbahani

Tan

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Pectoral fins are important actuation mechanisms in achieving maneuvering and propulsion for robotic fish. Existing designs predominantly adopt a rigid joint connecting the actuator to the pectoral fin, which requires differential actuation speeds in the power and recovery strokes in order to produce thrust and thus limits the overall actuation frequency. To address this problem, in this paper we propose a novel design of a flexible joint, which enables the pectoral fin to sweep back passively along the fish body in the recovery stroke, to minimize the drag, while maintaining the prescribed motion in the power stroke. A dynamic model is presented for a robotic fish propelled by pectoral fins incorporating such flexible joints, where the pectoral fin mechanism is modeled by two rigid segments connected with a pair of torsional spring and damper. This design results in a net thrust even with the same recovery and power stroke speed within each fin beat cycle, which simplifies the fin control. Experimental results on a robotic fish prototype are presented to validate the effectiveness of the proposed model, and to demonstrate the significant advantage of the proposed fin joint over the rigid joint. Furthermore, modeling analysis and experimental investigation are used to examine the influence of the joint length and stiffness on the locomotion performance.

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Section: Dynamic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Behbahani

Tan

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Naser

Rashid

2019

Engineering Reports

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The pectoral fin shape, size, and speed are the three main parameters for the proposed design. The influence of the geometrical shape of pectoral fin in labriform‐mode swimming mechanism is evaluated with the aid of computational fluid dynamics (CFD) method, which could be considered as a first step before building the complete robot prototype. The simulated results obtained are then validated experimentally. Two concave‐shape fins were designed with high precision, and each one of them is attached to a servomotor arm, which is, in turn, connected to a servomotor that is sliding on a pair of parallel shafts fixed at the center of a pool. The mathematical model of the proposed design is derived and then simulated by SolidWorks software. A different number of fin oscillating angles are tested with different power‐to‐recovery ratios. The generated thrust and drag force components under different working conditions are investigated, and hence, the drag coefficient is obtained experimentally. Body velocity and motor torque are calculated and compared with theoretical analysis. The results indicate that for each angle of rotation, there exists an optimal ratio that produces a maximum thrust during power stroke and maintains a minimum drag during recovery stroke.

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Role of Pectoral Fin Flexibility in Robotic Fish Performance

Behbahani

Tan

2017

J Nonlinear Sci

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A dynamic model for robotic fish with flexible pectoral fins

Cited by 19 publications

References 31 publications

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Role of Pectoral Fin Flexibility in Robotic Fish Performance

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