|Simplified propulsive model for biomimetic robot fish and its experimental validation|
|Yu, Junzhi; Wang, Shuo; Tan, Min
|发表期刊||High Technology Letters
|摘要||As a combination of bio-mechanism and engineering technology, robot fish has become a multidisciplinary research that mainly involves both hydrodynamics-based control and actuation technology. This paper presents a simplified propulsive model for carangiform propulsion, which is a swimming mode suitable for high speed and high efficiency. The carangiform motion is modeled as an N-joint oscillating mechanism that is composed of two basic components: the streamlined fish body represented by a planar spline curve and its lunate caudal tail by an oscillating foil. The speed of fish's straight swimming is adjusted by modulating the joint s oscillating frequency, and its orientation is tuned by different joint s deflection. The results from actual experiment showed that the proposed simplified propulsive model could be a viable candidate for application in aquatic swimming vehicles.|
|作者单位||Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China|
Yu, Junzhi,Wang, Shuo,Tan, Min. Simplified propulsive model for biomimetic robot fish and its experimental validation[J]. High Technology Letters,2005,11(4):382–386.
Yu, Junzhi,Wang, Shuo,&Tan, Min.(2005).Simplified propulsive model for biomimetic robot fish and its experimental validation.High Technology Letters,11(4),382–386.
Yu, Junzhi,et al."Simplified propulsive model for biomimetic robot fish and its experimental validation".High Technology Letters 11.4(2005):382–386.