Design and optimization of Caudal fin for robotic fish driven by crank-slotted slider and lever mechanism (original) (raw)
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There have been increased interests in the research on mechanical and control system of underwater vehicles in the recent past. These ongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations, scientific deep ocean surveys, military purposes, ecological and waters environmental studies, and also for entertainments. However, the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency and maneuverability. The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrust forces which make the control of the position and motion difficult. On the other hand, fishes and other aquatic animals are efficient swimmers, posses high maneuverability, are able to follow trajectories, can efficiently stabilize themselves in currents and surges, create less wakes than currently used underwater vehicle, and also have a noiseless propulsion. The fish’s locomotion mechanism is mainly controlled by its caudal fin and paired pectoral fins part. They are classified into BCF (Body and/or Caudal Fin) and MPF (Median and/or paired Pectoral Fins). The study of highly efficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism. There have not been many studies on underwater vehicles or fish robots using paired pectoral fins as thruster. The work presented in this paper represents a contribution in this area covering study, design and implementation of locomotion mechanisms of paired pectoral fins in a fish robot. The performance and viability of the biomimetic method for underwater vehicles are highlighted through in-water experiment of a robotic fish.
Imitating the style of the motion of fish mail in nature, this paper design and develop a single joint tail fin-propelled small robotic fish system. To meet the design specifications of the premise. The whole design process is divided into mechanical design, software and hardware design. The three-dimensional design software Solidworks is used for mechanical structural modeling, interference check and motion simulation tests. Arduino integrating development environment is used for compiling and writing controlling procedures and hardware circuit board is selected to complete motor control, remote communications and other tasks. After repeated experiments optimization, the high propulsive efficiency tail fin is designed at last and maximum sailing speed, radius of turning circle ,the maximum floating and diving speed of robotic fish under the promote of caudal fin is tested. At the same time, we use the appropriate choice of remote communication technologies to achieve free remote control of the machine fish when the depth of the water is certain. Additionally, the robot fish shell is landscaped and other items are tested, such as immersion test that under water for a long time and the test of the continuation of the journey. Testing shows that all items meet the requirements.
Design, Implementation and Control of a Fish Robot with Undulating Fins
2011
Biomimetic robots can potentially perform better than conventional robots in underwater vehicle designing. This paper describes the design of the propulsion system and depth control of a robotic fish. In this study, inspired by knife fish, we have designed and implemented an undulating fin to produce propulsive force. This undulating fin is a segmental anal fin that produces sinusoidal wave to propel the robot. The relationship between the individual fin segment and phase angles with the overall fin trajectory has also been discussed. This propulsive force can be adjusted and directed for fish robot manoeuvre by a mechanical system with two servomotors. These servomotors regulate the direction and depth of swimming. A wireless remote control system is designed to adjust the servomotors which enables us to control revolution, speed and phase differences of neighbor servomotors of fins. Finally, Field trials are conducted in an outdoor pool to demonstrate the relationship between robotic fish speed and fin parameters like phase difference, the number of phase and undulatory amplitude.
A Review on Development of Robotic Fish
In this paper, types of fish swimming propulsion and the mechanics of fish locomotion are reviewed. Body and/or caudal fin (BCF) locomotion and median and/or paired fin (MPF) locomotion are two main categories of fish swimming propulsion. The swimming and characteristics of each propulsion mode are discussed for the development of fish robotics. Development of robotic fish propulsion involves several aspects such as shape of the robot, pattern of movement, hydro-dynamics, control system, location on the machine, mechanical properties and material properties. Various structures and materials used in existing fish robots and significance of selection are reviewed. Several actuators including conventional actuators have been considered. Ionic Polymer-Metal Composite (IPMC), piezoceramic materials, shape memory alloy (SMA) wires and pneumatic soft actuator have been recently attempted and their unique characteristics, advantages and limitations are discussed. Appropriate control system needs to be designed for proper propulsion of fish robots, hence various control system used in the past are presented. Finally, improvements and alternative technique for maneuvering the vessel are proposed.
Parameter Optimization and Experimentation of the Undulating fin of a Knife Fish Robot
Proceedings of the 2015 Conference on Advances In Robotics, 2015
The rising demand for an energy efficient and eco-friendly mode of underwater propulsion has led to the development of bio-mimetic robots that adopt the swimming modes of real fishes. This paper deals with the parameter optimization of the bio-mimetic fin of a knife fish robot. The optimization is done to enhance the capability of the robot to generate wide range of undulations. A knife fish robot was fabricated and tested in a pool for different types of waves. The response of each wave on the swimming performance of the robot was studied to obtain the maximum thrust generating wave.
Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins
Robotica, 2019
SUMMARYBiological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By co...
Mathematical Modelling and Feasibility Study of the Biomimetic Undulating Fin of a Knife Fish Robot
2016
Bio-mimetic underwater robotics is an emerging area of research, which has the potential to substitute the conventional energy inefficient mode of underwater propulsion using thrusters. In this paper, the mathematical modelling of the undulating fin is done and the effect of various parameters of the mechanism design on the available workspace is studied. The mathematical beauty is revealed, for the curves representing the mechanical constraint and the family of undulating waves. The feasibility of a wave to be generated by the mechanism was analyzed.
Journal of Bionic Engineering, 2007
This paper addresses the design of a biomimetic fish robot actuated by piezoceramic actuators and the effect of artificial caudal fins on the fish robot's performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fin characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel's fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fin area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.
Design, fabrication and hydrodynamic analysis of a biomimetic robot fish
… and Computers in …, 2008
Abstract: - This paper is a review on design, fabrication and hydrodynamic analysis of a biomimetic robot fish that is made in Advanced Dynamic and Control System Laboratory, ADCSL, at University of Tehran. In order to build a fish-like swimming robot comprehensive hydrodynamic and ...