Role of Pectoral Fin Flexibility in Robotic Fish Performance

Behbahani, Sanaz Bazaz; Tan, Xiaobo

doi:10.1007/s00332-017-9373-6

Cited by 28 publications

(22 citation statements)

References 60 publications

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“…For example, muskellunge can quickly turn at a maximum angular velocity of 2500 • /s [17]. Inspired by the turning mobility of fish, scientists and engineers have been interested in the turning motion of robotic fish [5], [18], [19]. Liu et al developed a bionic robotic dolphin mainly made up of a pair of single-joint pectoral fins and a double-joint caudal fin, which employs the turning pattern of a median and/or paired fin (MPF) [20].…”

Section: Introductionmentioning

confidence: 99%

Research on the Turning Maneuverability of a Bionic Robotic Dolphin

et al. 2022

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This paper studies four patterns for the maneuverability of robotic dolphins: turning with flapping flippers, turning with swing flippers, turning with head offset, and turning with head-flipper coordination. Turning maneuverability is one of the important evaluation indexes for the performance of underwater bionic robots, and existing literature has rarely theoretically or experimentally evaluated turning maneuverability for the latter two turning patterns. In this paper, we establish a dynamic model for the high maneuverability of underwater bionic robots and discuss the influence of motion design parameters, including the frequency of the pectoral fins and the offset angle of the head, on the turning maneuverability, focusing on the turning angular velocity and turning radius. To verify the effectiveness and control accuracy of the dynamic model, we develop a multidegree-of-freedom (multi-DOF) and high-maneuverability bionic robotic dolphin and test its maneuverability through experiments. Extensive experimental results demonstrate that the established dynamic model can successfully predict the turning maneuverability of robotic dolphins. In addition, the turning methods in this paper have better turning performance than some robotic fish. This paper provides a reference for the establishment of a maneuvering dynamics model for underwater bionic robots and a theoretical basis for the design of a turning maneuver control system. INDEX TERMSRobotic dolphin, dynamic model, turning pattern, maneuverability.

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Section: Introductionmentioning

confidence: 99%

Research on the Turning Maneuverability of a Bionic Robotic Dolphin

et al. 2022

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“…Although the review [19] is based on a large number of studies, it seems that many problems are still not completely understood, for example, how the flapping foil reverses the Kármán street or how to generate the optimal thrust. According to results presented in the papers [1], [14], flexibility plays a crucial role in determining the efficiency of undulating propellers. In the paper [4], it is assumed that the optimal oscillation frequency is different from the resonance frequency.…”

Section: Introductionmentioning

confidence: 99%

“…The fluid-structure interaction has an impact on the fin deflection and the amplitude of the trailing edge. The trailing edge amplitude depends on the angle of the attack, the actual speed, the length of the fin as well as the fin flexibility [1]. For a higher water velocity [12], the bending moment is higher, and the amplitude of the trailing edge is lower.…”

Section: Introductionmentioning

confidence: 99%

Influence of Fin’s Material Capabilities on the Propulsion System of Biomimetic Underwater Vehicle

Piskur

Szymak

Kitowski

et al. 2020

Polish Maritime Research

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The technology of Autonomous Underwater Vehicles (AUVs) is developing in two main directions focusing on improving autonomy and improving construction, especially driving and power supply systems. The new Biomimetic Underwater Vehicles (BUVs) are equipped with the innovative, energy efficient driving system consisting of artificial fins. Because these driving systems are not well developed yet, there are great possibilities to optimize them, e.g. in the field of materials. The article provides an analysis of the propulsion force of the fin as a function of the characteristics of the material from which it is made. The parameters of different materials were used for the fin design and their comparison. The material used in our research was tested in a laboratory to determine the Young’s modulus. For simplicity, the same fin geometry (the length and the height) was used for each type of fin. The Euler–Bernoulli beam theory was applied for estimation of the fluid–structure interaction. This article presents the laboratory test stand and the results of the experiments. The laboratory water tunnel was equipped with specialized sensors for force measurements and fluid–structure interaction analysis. The fin deflection is mathematically described, and the relationship between fin flexibility and the generated driving force is discussed.

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“…In particular, the electromechanical effect of these materials makes it possible to detect physical stimuli without external power, so many researchers have studied various sensors, such as force and strain sensors, using this mechanism [ 9 , 10 , 11 , 12 ]. Among these, force sensors have become more important with the development of advanced robots, such as soft robots, humanoid robots, and medical robots [ 13 , 14 , 15 , 16 , 17 , 18 ]. This is because force sensors allow the robot to undergo dexterous manipulation [ 19 , 20 , 21 ] or to distinguish objects [ 22 ].…”

Section: Introductionmentioning

confidence: 99%

Multidirectional Cylindrical Piezoelectric Force Sensor: Design and Experimental Validation

Lee

Neubauer

Cha

2020

Sensors

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A common design concept of the piezoelectric force sensor, which is to assemble a bump structure from a flat or fine columnar piezoelectric structure or to use a specific type of electrode, is quite limited. In this paper, we propose a new design of cylindrical piezoelectric sensors that can detect multidirectional forces. The proposed sensor consists of four row and four column sensors. The design of the sensor was investigated by the finite element method. The response of the sensor to various force directions was observed, and it was demonstrated that the direction of the force applied to the sensor could be derived from the signals of one row sensor and three column sensors. As a result, this sensor proved to be able to detect forces in the area of 225° about the central axis of the sensor. In addition, a cylindrical sensor was fabricated to verify the proposed sensor and a series of experiments were performed. The simulation and experimental results were compared, and the actual sensor response tended to be similar to the simulation.

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Role of Pectoral Fin Flexibility in Robotic Fish Performance

Cited by 28 publications

References 60 publications

Research on the Turning Maneuverability of a Bionic Robotic Dolphin

Research on the Turning Maneuverability of a Bionic Robotic Dolphin

Influence of Fin’s Material Capabilities on the Propulsion System of Biomimetic Underwater Vehicle

Multidirectional Cylindrical Piezoelectric Force Sensor: Design and Experimental Validation

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