Dynamic modeling and experiment of a fish robot with a flexible tail fin

Nguyen, Phi Luan; Phu, Van; Lee, Byung Ryong

doi:10.1016/s1672-6529(13)60197-3

Cited by 14 publications

(3 citation statements)

References 12 publications

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“…With hundreds of millions of years of evolution, fish are endowed with a variety of morphological and structural features such as the speed, efficiency and agility to swim in water. Therefore, many bioinspired fish-like propulsion devices have been developed, and many extensive experimental studies have been conducted by biologists and engineers due to the remarkable feats of fish in terms of biological swimming [1][2][3][4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Innovation Concept Model and Prototype Validation of Robotic Fish with a Spatial Oscillating Rigid Caudal Fin

Wang

Han

Mao

2021

JMSE

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Inspired by carangiform fish with a high-aspect ratio of the caudal fin’s up-down swing, but also by dolphins with a similar caudal fin’s left-right swing, a robotic fish with a spatial oscillating rigid caudal fin is implemented to optimize propulsion and maneuverability, whose orientation could be transformed to any position of a taper domain. First, three steering-engines were adopted to make the conceptual prototype, and an experimental apparatus for measuring thrust, lift forces, lateral forces and torque was developed. Then, three comparison experiments, respectively corresponding to the three modes of cruise, diving and maneuvering in random space, were conducted to imitate bionic fish’s hydrodynamics. The comparison results of the experiments proved that propelling and maneuvering in any direction could be realized through changing the orientation of the spatial oscillating rigid caudal fin.

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Section: Introductionmentioning

confidence: 99%

Innovation Concept Model and Prototype Validation of Robotic Fish with a Spatial Oscillating Rigid Caudal Fin

Wang

Han

Mao

2021

JMSE

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“…A fish can make half-turn on 1/10 its length without losing speed, whereas a sub-marine needs 10 times its length by slowing down half to do the same. The research on robotic fish are mainly focused on dynamic modeling [2][3][4][5] and control [6][7][8][9][10][11]. An extensive review and classification of different fish species and marine robots inspired by them is given in [12].…”

Section: Introductionmentioning

confidence: 99%

On Locomotion of a Laminated Fish-Inspired Robot in a Small-to-Size Environment

Sharifzadeh

Khodambashi

Zhang

et al. 2018

Volume 5A: 42nd Mechanisms and Robotics Conference

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Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use bioinspired platforms. In most cases, the main goal of the fish inspired robots has been set to autonomously swim and maneuver in an environment spacious compared to the fish's size. In this paper, the identification & control of a low-cost fish-inspired robot is studied with goal of building a mechanism to not only swim in water but able to interact with its narrow environment. The robotic fish under study uses tail propulsion as main locomotion. Moreover, proper propulsion regimes are identified and used to model and control thrust generated by propulsion.

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“…Caudal fin, as the actuator, has been extensively studied. Many studies indicate that the flexibility of the caudal fin has significant effects on its hydrodynamic forces (Yang et al , 2011; Nakaba et al , 2009; Nguyen et al , 2013; Ziegler and Pfeifer, 2013). In addition, there are also some attempts on the performance study of the variable surface area caudal fin and variable shape caudal fin (Liu et al , 2015; Yang et al , 2016).…”

Section: Introductionmentioning

confidence: 99%

Computational and experimental study on dynamics behavior of a bionic underwater robot with multi-flexible caudal fins

Xie

Qin

2017

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Purpose This paper aims to develop a novel type of bionic underwater robot (BUR) with multi-flexible caudal fins. With the coordinate movement of multi-caudal fins, BUR will combine the undulation propulsion mode of carangiform fish and jet propulsion mode of jellyfish together organically. The use of Computational Fluid Dynamics (CFD) and experimental method helps to reveal the effect of caudal fin stiffness and motion parameters on its hydrodynamic forces. Design/methodology/approach First, the prototype of BUR was given by mimicking the shape and propulsion mechanism of both carangiform fish and jellyfish. Besides, the kinematics models in both undulation and jet propulsion modes were established. Then, the effects of caudal fin stiffness on its hydrodynamic forces were investigated based on the CFD method. Finally, an experimental set-up was developed to test and verify the effects of the caudal fin stiffness on its hydrodynamic forces under different caudal fin actuation frequency and amplitude. Findings The results of this paper demonstrate that BUR with multi-flexible caudal fins combines the hydrodynamic characteristics of undulation and jet propulsion modes. In addition, the caudal fin with medium stiffness can generate larger thrust force and reduce the reactive power. Practical implications This paper implies that robotic fish can be equipped with both undulation and jet propulsion modes to optimize the swimming performance in the future. Originality/value This paper provides a BUR with multi-propulsion modes, which has the merits of high propulsion efficiency, high acceleration performance and overcome the head shaken problem effectively.

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Dynamic modeling and experiment of a fish robot with a flexible tail fin

Cited by 14 publications

References 12 publications

Innovation Concept Model and Prototype Validation of Robotic Fish with a Spatial Oscillating Rigid Caudal Fin

Innovation Concept Model and Prototype Validation of Robotic Fish with a Spatial Oscillating Rigid Caudal Fin

On Locomotion of a Laminated Fish-Inspired Robot in a Small-to-Size Environment

Computational and experimental study on dynamics behavior of a bionic underwater robot with multi-flexible caudal fins

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