Thrust and Swimming Speed Analysis of Fish Robot with Non-uniform Flexible Tail  

作　　者：Phi Luan Nguyen Byung Ryong Lee Kyoung Kwan Ahn 

机构地区：[1]School of Mechanical Engineering, University of Ulsan, Ulsan, Korea

出　　处：《Journal of Bionic Engineering》2016年第1期73-83,共11页仿生工程学报（英文版）

摘　　要：We present a dynamic model of a fish robot with a Non-uniform Flexible Tail （NFT）. We investigate the tendencies of the thrust and swimming speed when the input driving moment changes. Based on the proposed dynamic model of the NFT, we derive the thrust estimation, equation of motion, and performance evaluation of a fish robot with a NFT. By defining the optimal stiffness of the NFT in simulation, a fish robot prototype is then designed and fabricated. A series of experiments are performed to verify the proposed model. Experiment results are in good agreement with simulation data. The results show that the thrust and swimming speed of the fish robot are proportional to the amplitude of the driving moment. There are two resonant fre- quencies （f = 1.4 Hz and 2.2 Hz）, the maximum thrust and swimming speed （about 0.7 BL.s-1） are found to be around f = 1.4 Hz. The above results inidicate the proposed model is suitable for predicting the behavior, thrust and swimming speed of a fish robot with a NFT.We present a dynamic model of a fish robot with a Non-uniform Flexible Tail （NFT）. We investigate the tendencies of the thrust and swimming speed when the input driving moment changes. Based on the proposed dynamic model of the NFT, we derive the thrust estimation, equation of motion, and performance evaluation of a fish robot with a NFT. By defining the optimal stiffness of the NFT in simulation, a fish robot prototype is then designed and fabricated. A series of experiments are performed to verify the proposed model. Experiment results are in good agreement with simulation data. The results show that the thrust and swimming speed of the fish robot are proportional to the amplitude of the driving moment. There are two resonant fre- quencies （f = 1.4 Hz and 2.2 Hz）, the maximum thrust and swimming speed （about 0.7 BL.s-1） are found to be around f = 1.4 Hz. The above results inidicate the proposed model is suitable for predicting the behavior, thrust and swimming speed of a fish robot with a NFT.

关 键 词：fish robot flexible tail dynamic modeling swimming speed THRUST Froude efficiency 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] P631.443[自动化与计算机技术—控制科学与工程]