J4 ›› 2009, Vol. 6 ›› Issue (2): 174-179.doi: 10.1016/S1672-6529(08)60114-6

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Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

Shao-bo Yang, Jing Qiu, Xiao-yun Han   

  1. Institute of Mechatronical Engineering and Automatization, National University of Defense Technology, Hunan 410073, P. R. China
  • 出版日期:2009-06-30
  • 通讯作者: Shao-bo Yang E-mail: shb.yang@yahoo.com.cn E-mail:shb.yang@yahoo.com.cn
  • 作者简介:Shao-bo Yang E-mail: shb.yang@yahoo.com.cn

Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

Shao-bo Yang, Jing Qiu, Xiao-yun Han   

  1. Institute of Mechatronical Engineering and Automatization, National University of Defense Technology, Hunan 410073, P. R. China
  • Online:2009-06-30
  • Contact: Shao-bo Yang E-mail: shb.yang@yahoo.com.cn E-mail:shb.yang@yahoo.com.cn
  • About author:Shao-bo Yang E-mail: shb.yang@yahoo.com.cn

摘要:

A robotic fish driven by oscillating fins, “Cownose Ray-I”, is developed, which is in dorsoventrally flattened shape without a tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in the design of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver.  Forward velocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beat frequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results on maneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition, as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0.15 m•s-1.

关键词: robotic fish, pectoral oscillation propulsion, largest amplitude, number of waves, fin beat frequency, phase difference

Abstract:

A robotic fish driven by oscillating fins, “Cownose Ray-I”, is developed, which is in dorsoventrally flattened shape without a tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in the design of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver.  Forward velocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beat frequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results on maneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition, as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0.15 m•s-1.

Key words: robotic fish, pectoral oscillation propulsion, largest amplitude, number of waves, fin beat frequency, phase difference