Bio-harmonized Dynamic Model of a Biology Inspired Carangiform Robotic Fish Underwater Vehicle

Chowdhury, Abhra Roy; Prasad, Bhuneshwar; Vishwanathan, Vinoth; Kumar, Rajesh; Panda, Sanjib Kumar

doi:10.3182/20140824-6-za-1003.02797

Cited by 10 publications

(24 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Similar trend is set for frequency at 0.5 Hz with an increased propulsive thrust at drag coefficient À0. 22. The simulation is carried till frequency range equals to 0.9 Hz where the coefficient increases to À0.83.…”

Section: Tail-beat Frequency (Tbf) Effectsmentioning

confidence: 99%

“…Though most of the problem formulations are carried out in linear dynamical systems theory framework but the importance of complex coupled interaction of the undulating/oscillating body with fluid (water) cannot be overlooked, specifically dealing with the wake (vortex) formation. Lagrange's dynamic energy equations [12,13,22] also reveal the severe dependence of overall body mechanics on the inertia (including the added mass), the hydrodynamics and the coriolis forces/moments. Accurate prediction of the hydrodynamic effects on bioinspired robotic vehicles is essential to validate the biological principles integrated to the multi-body kinematics and dynamics.…”

Section: Cfd Modeling Of Lighthill Undulatory Motionmentioning

confidence: 99%

See 1 more Smart Citation

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

et al. 2015

Self Cite

View full text Add to dashboard Cite

This paper investigates the hydrodynamic characteristics of the rectilinear motion of a robotic fish underwater vehicle. This 2-joint, 3-link multibody vehicle model is biologically inspired by a body caudal fin carangiform fish propulsion mechanism. Navier-Stokes equations are used to compute the unsteady flow fields generated due to the interaction between the vehicle and the surrounding incompressible and Newtonian fluid (water) environment. The NACA 0014 airfoil aerodynamic profile has been designed to boost the swimming efficiency by reducing drag as the vehicle undergoes an undulatory/ oscillatory motion. Using the Lighthill slender body model, a traveling wave mathematical function is defined to undulate the robotic fish posterior (caudal) region while the motion tracking is carried out by dynamic meshing technique. The results obtained show that though the net lift force approaches to zero, the net thrust or negative drag coefficient maintains a finite value dependent on kinematic parameters like tail beat frequency (TBF) and amplitude span (AS) at a given propulsive wavelength and the forward velocity of the vehicle. The results reveal the effects of TBF and AS on the coefficient of drag friction and the thrust force. Drag coefficients obtained from the simulations are compared and validated with the experimental results. The hydrodynamic results are found to be similar to the kinematic study results and suggest that TBF and AS play the most effective roles in the bioinspired propulsion technique. Relation of these parameters with propelling thrust force and forward velocity is also in conjunction over a given range of TBF and AS values.

show abstract

Section: Tail-beat Frequency (Tbf) Effectsmentioning

confidence: 99%

Section: Cfd Modeling Of Lighthill Undulatory Motionmentioning

confidence: 99%

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

et al. 2015

Self Cite

View full text Add to dashboard Cite

show abstract

“…By utilizing SolidWorks, a kinematics model of a robotic fish, with coordinated motion of multiple propulsive mechanisms, is established as shown in Figure 3a,b,c and the real hardware prototype used for closed-loop experiments [9] is shown in Figure 3d. Details of the dynamic modeling of present bio-inspired robot can be found in [12].…”

Section: Generalized Equations Of Motionmentioning

confidence: 99%

“…As the above equation has been successfully used for investigating the dynamics of underwater vehicles [10,12] as well as robotic manipulators [11], this research therefore aims to develop an n-joint manipulator-based mobile vehicle. Following the analysis, the mechanical design in SolidWorks is implemented.…”

Section: Generalized Equations Of Motionmentioning

confidence: 99%

“…Moreover, the caudal peduncle and fin have been rendered in to a thunniform (shark) semi-crescent structure for an efficient thrust and therefore allowing high cruising speed for longer period of time [5]. While the kinematics study explains the geometry of the motion of robotic fish w.r.t, a fixed reference coordinate frame as a function of time, the dynamics of any rigid body [10][11][12] can be completely described by the translation of the centroid and the rotation of the body about its centroid. This leads to the ability to derive the actuator torques necessary to produce the tail motion that is desired.…”

Section: System Modelmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

et al. 2014

Self Cite

View full text Add to dashboard Cite

This paper has focused on the formulation of the biological fish propulsion mechanism given by Sir J. Lighthill mathematical slender body theory for a bio-inspired robotic fish. A 2-joint, 3-link multibody vehicle model biologically inspired by a body caudal fin (BCF) carangiform fish propulsion is designed. The objective is to investigate and show that a machine mimicking real fish behavior can navigate efficiently over a given distance with a good balance of speed and maneuverability. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Different mathematical propulsive waveforms are combined with an inverse kinematics-based approach for generating fish body motion. Comparative studies are undertaken among a non-LH model, a LH model, and the proposed propulsive wave models based on a distance-based performance index. Proposed LH cubic and NURB quadratic functions are found to be 16.32% and 17.94% efficient than a non-LH function, respectively. With the help of the simulation results, closed-loop experiments are done and an operating region is established for critical kinematic parameters tail-beat frequency and propulsive wavelength. The simulation and experimental plots are compared and found to be similar to the kinematic behavior study of the biological yellowfin tuna.

show abstract

Experiments in Second Order Sliding Mode Control of a CPG based Spherical Robot

et al. 2017

View full text Add to dashboard Cite

Bio-harmonized Dynamic Model of a Biology Inspired Carangiform Robotic Fish Underwater Vehicle

Cited by 10 publications

References 16 publications

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

Experiments in Second Order Sliding Mode Control of a CPG based Spherical Robot

Contact Info

Product

Resources

About