iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
نویسندگان
چکیده
This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.
منابع مشابه
Analysis and Implementation of Swimming Backward for Biomimetic Carangiform Robot Fish
The swimming backward for biomimetic carangiform robot fish is analyzed and implemented in this paper. The swimming law of the carangiform robot fish is modified according to the European Eel swimming mode based on the multiple-link structure to implement the backward motion. The motion mode difference between the eel and carangiform fish is discussed, and a qualitative kinematic analysis of th...
متن کاملDisentangling the functional roles of morphology and motion in the swimming of fish.
In fishes the shape of the body and the swimming mode generally are correlated. Slender-bodied fishes such as eels, lampreys, and many sharks tend to swim in the anguilliform mode, in which much of the body undulates at high amplitude. Fishes with broad tails and a narrow caudal peduncle, in contrast, tend to swim in the carangiform mode, in which the tail undulates at high amplitude. Such fish...
متن کاملCenter of mass motion in swimming fish: effects of speed and locomotor mode during undulatory propulsion.
Studies of center of mass (COM) motion are fundamental to understanding the dynamics of animal movement, and have been carried out extensively for terrestrial and aerial locomotion. But despite a large amount of literature describing different body movement patterns in fishes, analyses of how the center of mass moves during undulatory propulsion are not available. These data would be valuable f...
متن کاملBiological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish
This paper presents a novel approach to modelling carangiform fish-like swimming motion for multi-joint robotic fish so that they can obtain fish-like behaviours and mimic the body motion of carangiform fish. A given body motion function of fish swimming is firstly converted to a tail motion function which describes the tail motion relative to the head. Then, the tail motion function is discret...
متن کاملBio-harmonized Dynamic Model of a Biology Inspired Carangiform Robotic Fish Underwater Vehicle ?
This paper presents a novel dynamic model of a bio-inspired robotic fish underwater vehicle by unifying conventional rigid body dynamics and bio-fluid-dynamics of a carangiform fish swimming given by Lighthill’s (LH) slender body theory. It proposes an inclusive mathematical design for better control and energy efficient path travel for the robotic fish. The system is modeled as an 2-link robot...
متن کامل