Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

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

doi:10.1016/s1672-6529(13)60216-4

Cited by 20 publications

(12 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…. Geometries of tails [11] As shown in figure 2, the design of the first section of the robot fish tail was based on the following geometric shape and the second section of the robot fish tail was added to the first section in order to apply force and create moment. To do so, a servomotor and a cable connected to point O were used to create moment in tail and the pressure of water in the opposite direction of moment to the first section of the fish tail can create a wave like movement in the tail.…”

Section: Figure1mentioning

confidence: 99%

Design and Fabrication and Hydrodynamic Analysis of a Fish Robot for Underwater Surveillance

2019

International Journal of Modern Studies in Mechanical Engineeri

View full text Add to dashboard Cite

Section: Figure1mentioning

confidence: 99%

Design and Fabrication and Hydrodynamic Analysis of a Fish Robot for Underwater Surveillance

2019

International Journal of Modern Studies in Mechanical Engineeri

View full text Add to dashboard Cite

“…The element L y (x)dx(dx/2) can be neglected due to the small term dx, and then combined (4) with (5) and 6, the dynamic equation of fish body is expressed as follows:…”

Section: Force Analysis Of Bending Body Without Axial Forcementioning

confidence: 99%

“…Typically, Alvarado [4] designed and fabricated a compliant fish robot driven by an electrical motor. This kind of biomimetic device is simple and robust, which can be modelled as a bending flexible beam [4], [5]. Nevertheless, the capabilities of these soft robotic fish are still far from the swimming performance of real fish.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Thunniform Robotic Fish With Variable Body Stiffness

Cui¹,

Jiang²

2017

International Journal of Robotics and Automation

View full text Add to dashboard Cite

In nature, undulatory swimmers consume minimum energy by adjusting their body's natural frequency to match the tail-beat frequency. Inspired by this, we study the dynamic model of fish body by considering the body shape and the fluid interactions, and develop a soft thunniform robotic fish. The experimental results show that when the driving frequency is close to the natural frequency, the speed of robotic fish reaches the maximum value, approximately 0.25 body length per second. Moreover, an empty space with a different air pressure is embedded into the body of robotic fish to vary its stiffness, and the natural frequency can be adjusted from 2.0 to 2.8 Hz by modulating the air pressure. The results of robotic fish with variable stiffness show that the forward speed and acceleration are increased with natural frequency, and a smaller stiffness of caudal fin contributes to a better propulsive performance. We also predict that the peak speed and acceleration can be obtained simultaneously by adjusting the stiffness of both fish body and caudal fin properly. These results reveal that the swimming abilities of robotic fish are closely related to the driving frequency and the stiffness property.

show abstract

“…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

View full text Add to dashboard Cite

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.

show abstract

Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

Cited by 20 publications

References 15 publications

Design and Fabrication and Hydrodynamic Analysis of a Fish Robot for Underwater Surveillance

Design and Fabrication and Hydrodynamic Analysis of a Fish Robot for Underwater Surveillance

Design and Implementation of Thunniform Robotic Fish With Variable Body Stiffness

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

Contact Info

Product

Resources

About