J4 ›› 2010, Vol. 7 ›› Issue (2): 120-126.doi: 10.1016/S1672-6529(09)60204-3

• 论文 • 上一篇    下一篇

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

 Yueri Cai, Shusheng Bi, Licheng Zheng   

  1. Robotics Institute, Beihang University, Beijing 100191, P. R. China
  • 收稿日期:2010-02-05 出版日期:2010-06-30
  • 通讯作者: Shusheng Bi E-mail:biss_buaa@163.com

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

 Yueri Cai, Shusheng Bi, Licheng Zheng   

  1. Robotics Institute, Beihang University, Beijing 100191, P. R. China
  • Received:2010-02-05 Online:2010-06-30
  • Contact: Shusheng Bi E-mail:biss_buaa@163.com

摘要:

The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish. Body structure, motion discipline, and dy-namic foil deformation of cow-nosed ray are analyzed. Based on the analysis results, a robotic fish imitating cow-nosed ray, named Robo-ray II, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed. Structure and swimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature. Key propulsion parameters of Robo-ray II at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied through experiments. The suitable driving parameters are confirmed considering the efficiency and swimming velocity. Swimming velocity of 0.16 m•s−1 and thrust coefficient of 0.56 in maximum are achieved in experiments.

关键词: robotic fish, cow-nosed ray, flexible structure, St Number, thrust coefficient

Abstract:

The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish. Body structure, motion discipline, and dy-namic foil deformation of cow-nosed ray are analyzed. Based on the analysis results, a robotic fish imitating cow-nosed ray, named Robo-ray II, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed. Structure and swimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature. Key propulsion parameters of Robo-ray II at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied through experiments. The suitable driving parameters are confirmed considering the efficiency and swimming velocity. Swimming velocity of 0.16 m•s−1 and thrust coefficient of 0.56 in maximum are achieved in experiments.

Key words: robotic fish, cow-nosed ray, flexible structure, St Number, thrust coefficient