J4 ›› 2013, Vol. 10 ›› Issue (1): 39-45.doi: 10.1016/S1672-6529(13)60197-3

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  • 收稿日期:2012-08-22 修回日期:2012-10-22 出版日期:2013-01-10 发布日期:2013-01-10
  • 作者简介: Phi Luan Nguyen, Van Phu Do, Byung Ryong Lee

Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

Phi Luan Nguyen, Van Phu Do, Byung Ryong Lee   

  1. 1. Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan, Daehak-ro 93, Nam-gu, Ulsan 680-749, South Korea
    2. School of Mechanical Engineering, University of Ulsan, Daehak-ro 93, Nam-gu, Ulsan 680-749, South Korea
  • Received:2012-08-22 Revised:2012-10-22 Online:2013-01-10 Published:2013-01-10
  • Contact: Byung-Ryong Lee E-mail:brlee@ulsan.ac.kr
  • About author: Phi Luan Nguyen, Van Phu Do, Byung Ryong Lee

Abstract:

This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.

Key words: robotic fish, flexible tail, dynamic modeling, lateral movement