Effect of flapping orientation on caudal fin propelled bio-inspired underwater robots

Ravichandran, Santhosh; Dharwada, Srikanth; Agarwal, Aman; Rajagopal, Prabhu

doi:10.1007/s41683-020-00048-z

Cited by 4 publications

(4 citation statements)

References 14 publications

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“…The dynamic modeling for biomimetic vehicles followed the same criteria as the methodologies employed to model conventional underwater vehicles [12]. Nonetheless, the biomimetic aspects of the prototype had to be considered to adequately estimate some hydrodynamic terms.…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

“…These studies are conducted to identify which behaviors the vehicle will tend to present while swimming. In [12], Ravichandran et al performed numerical simulations based on the dynamic modeling of a REMUS autonomous underwater vehicle to which a caudal fin was fixed as the main propeller. By changing its orientation, the caudal fin was able to reproduce dorsoventral and sideways flapping.…”

Section: Introductionmentioning

confidence: 99%

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Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System

et al. 2022

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The performance of biomimetic underwater vehicles directly depends on the correct design of their propulsion system and its control. These vehicles can attain highly efficient motion, hovering and thrust by properly moving part(s) of their bodies. In this article, a mathematical modeling and waypoint guidance system for a biomimetic autonomous underwater vehicle (BAUV) is proposed. The BAUV achieves sideways and dorsoventral thunniform motion by flapping its caudal fin through a parallel mechanism. Also, an analysis of the vehicle’s design is presented. A thrust analysis was performed based on the novel propulsion system. Furthermore, the vehicle’s kinematics and dynamic models were derived, where hydrodynamic equations were obtained as well. Computed models were validated using simulations where thrust and moment analysis was employed to visualize the vehicle’s performance while swimming. For the path tracking scheme, a waypoint guidance system was designed to correct the vehicle’s direction toward several positions in space. To accurately obtain waypoints, correction over the propeller’s flapping frequency and bias was employed to achieve proper thrust and orientation of the vehicle. The results from numerical simulations showed how by incorporating this novel propulsion strategy, the BAUV improved its performance when diving and maneuvering based on the dorsoventral and/or sideways configuration of its swimming mode. Furthermore, by designing proper strategies to regulate the flapping performance of its caudal fin, the BAUV followed the desired trajectories. The efficiency for the designed strategy was obtained by comparing the vehicle’s traveled distance and ideal scenarios of straight-line trajectories between targets. During simulations, the designed guidance system presented an efficiency of above 80% for navigation tasks.

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Section: Vehicle Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System

et al. 2022

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Section: Introductionmentioning

confidence: 99%

“…By studying the structural characteristics, motion forms, and propulsion mechanism of flapping wing swimming organisms, relevant researchers applied them to the development of the underwater bionic propeller, which can further improve the motion performance and operation of the propeller, leading to a strong practical value. [4][5][6][7] The research on the structure and motion mechanism of underwater organisms' flapping wings is fairly mature. Warren et al [8] from the American Society of Fish and Reptiles found that the angle between the center line of the forelimb motion trajectory and the body plane of sea turtle is about 62 as early as the 1970s, and the figure of "8" swing up and down is the main source of thrust in the process of turtle swimming.…”

mentioning

confidence: 99%

Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper

Zhao

Lim

et al. 2022

Adv Eng Mater

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The sea lion fore flipper has superior underwater movement performance. Its structural characteristics and propulsion mechanism are drawn, combined with the large deformation and hyperelastic properties of silicone, a pneumatic soft‐bodied bionic flipper with strong underwater mobility, good environmental adaptability, and flexible attitude transformation. Based on Yeoh's second‐order constitutive model of silicone, the nonlinear dynamic analysis of the main limb of the bionic flipper is carried out, and the deformation analysis theoretical model is established. Then, the force analysis of infinitesimal and integral of the wing fin of the bionic flipper is analyzed by the blade element theory, to obtain the theoretical model of underwater propulsion dynamic performance. The superiority of the hydrodynamic performance of the bionic flipper is analyzed and confirmed using the bidirectional fluid–structure coupling numerical simulation algorithm. An experimental test platform is built to test the physical model of the bionic flipper. The motion and dynamic characteristics curves of the bionic flipper are obtained and compared with the corresponding numerical simulation results. The results show that the theoretical model and numerical simulation are accurate, and the structure is feasible, which can provide methods and references for the research and implementation of the underwater propeller.

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Propulsive Performance of Tandem Flapping Wings for Autonomous Underwater Vehicles (Auvs) and Surface Ships

Mannam

Avula

2021

2021 IEEE 4th International Conference on Computing, Power and Communication Technologies (GUCON)

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Effect of flapping orientation on caudal fin propelled bio-inspired underwater robots

Cited by 4 publications

References 14 publications

Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System

Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System

Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper

Propulsive Performance of Tandem Flapping Wings for Autonomous Underwater Vehicles (Auvs) and Surface Ships

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