A simplified propulsive model of bio-mimetic robot fish and its realization
2005; Cambridge University Press; Volume: 23; Issue: 1 Linguagem: Inglês
10.1017/s0263574704000426
ISSN1469-8668
AutoresJunzhi Yu, Shuo Wang, Min Tan,
Tópico(s)Robotic Locomotion and Control
ResumoThis paper presents a simplified kinematics propulsive model for carangiform propulsion. The carangiform motion is modeled as a serial $N$ -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 oscillatory frequency, and its orientation is tuned by different joint's deflections. The experimental results showed that the proposed simplified propulsive model could be a viable candidate for application in aquatic swimming vehicles.
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