Research and Development of Robotic Fish Based on Elastic Oscillation Fin System
نویسندگان
چکیده
The authors research and develop a flapping wing type robotic fish (shark ray robot) with flexible tail fin as an advanced underwater vehicle. The flapping wing consists of multijoints mechanism to get lift force and rotation moment for high maneuvering characteristics of motion. The tail fin is designed by elastic oscillating system and developed to produce strong propulsion force for higher speed maneuvering. In addition, a trim balance mechanism is designed to get the trim of pitch motion. The developed the shark ray robot has higher maneuverability by strong lift force of flapping wing and propulsion force of tail fin. Also, the shark ray robot can cruise quietly and avoid twining by seaweeds, and is effective for environmental parameter sensing and acquisition. The shark ray robot was designed by elastic oscillating fin system and the model with tail fin and main wings has been constructed. Then, its effectiveness has been successfully confirmed by numerical simulation and tank test. In addition, the authors proposed an effective fin drive due to resonance, and had positive outcomes.
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