Propulsive and maneuvering performance of two joints biorobotic autonomous undersea vehicle SPC-III

Liang, Jianhong; Zheng, Weifeng; Wen, Li; Wang, Tianmiao; Xie, Chengyin

doi:10.1109/robio.2009.5420664

Cited by 11 publications

(6 citation statements)

References 9 publications

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“…Among thunniform swimmers, tuna is considered the fastest fish in nature. For these reasons, most studies deal with tuna-like mechanisms [59][60][61][62][63][64][65][66][67]. The pioneer tuna-like mechanism was RoboTuna [11,59], made at MIT.…”

Section: Bcf Swimming Modesmentioning

confidence: 99%

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Galdo

Rodríguez²

2020

JMSE

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The aim of the present paper is to provide the state of the works in the field of hydrodynamics and computational simulations to analyze biomimetic marine propulsors. Over the last years, many researchers postulated that some fish movements are more efficient and maneuverable than traditional rotary propellers, and the most relevant marine propulsors which mimic fishes are shown in the present work. Taking into account the complexity and cost of some experimental setups, numerical models offer an efficient, cheap, and fast alternative tool to analyze biomimetic marine propulsors. Besides, numerical models provide information that cannot be obtained using experimental techniques. Since the literature about trends in computational simulations is still scarce, this paper also recalls the hydrodynamics of the swimming modes occurring in fish and summarizes the more relevant lines of investigation of computational models.

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Section: Bcf Swimming Modesmentioning

confidence: 99%

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Galdo

Rodríguez²

2020

JMSE

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“…Therefore, the development of bio-inspired propellers using the BCF mode has become a research focus in the field of underwater robotic fish locomotion [6] . The robotic fish SPC-II [7] developed by Beihang University achieves tail fin oscillation through a crank-rocker mechanism, but its amplitude cannot be adjustable. The robotic fish HFP-II [8] developed by Harbin Institute of Technology utilizes gear mechanisms, sinusoidal mechanisms, and linkage mechanisms to transmit power, ultimately achieving both translational and oscillatory motion of the tail fin.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental study of a novel underwater bionic propulsion mechanism

Han,

Zhao,

et al. 2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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“…In 2014, Mathieu et al developed amphibot-III, a bionic eel robot fish with eight joints [7]. In Beijing University of Aeronautics and Astronautics, researchers have developed a series of thunniform bionic robotic fish, with two parallel joints for the tail peduncle and caudal fin, driven by a two-axis servo motor [8,9]. In 2006, the Harbin Institute of Technology successfully developed a two-joint carangiform fish robot, denoted as "HRF-I," with a swimming speed of 0.5 m/s.…”

Section: Introductionmentioning

confidence: 99%

A Novel Fish-Inspired Robot with a Double-Cam Mechanism

Song

Romano

et al. 2022

Machines

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Fishes have evolved different excellent swimming strategies. To study the influence of tail fin swing on the swimming performance of bionic robot fish, with one joint under the same tail swing frequency and amplitude, we designed a novel robot fish, driven by a double-cam mechanism. By designing the profile of the cam in the mechanism, the robot fish can achieve different undulatory motion trajectory of the caudal fin under the same tail swing frequency and amplitude. The mechanism simulated the undulatory motion of crucian carp. We studied the influence of undulatory motion on the swimming speed of robot fish, which was analyzed by dynamic analysis of the undulatory motion and experiments. According to the experimental results, we can find that the swimming speed of the robotic fish is different under various wave motions. When other conditions are the same, the speed that the robot fish can achieve by imitating the swing motion of the real fish is 1.5 times that of the robot fish doing the cycloid motion. The experimental results correspond to the kinetic analysis results. Furthermore, it is proven that the robot fish with a low caudal peduncle stiffness swims faster under a low swinging frequency, and the speed of a robot fish with a high caudal peduncle stiffness is higher under a high tail swinging frequency.

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Propulsive and maneuvering performance of two joints biorobotic autonomous undersea vehicle SPC-III

Cited by 11 publications

References 9 publications

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Design and experimental study of a novel underwater bionic propulsion mechanism

A Novel Fish-Inspired Robot with a Double-Cam Mechanism

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