Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-28T15:00:58.696Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins

Published online by Cambridge University Press:  04 July 2019

Van Anh Pham Open the ORCID record for Van Anh Pham [Opens in a new window] ,
Tan Tien Nguyen ,
Byung Ryong Lee  and
Tuong Quan Vo
Van Anh Pham
Affiliation:
Ho Chi Minh City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam E-mails: [email protected], [email protected] Pham Van Dong University, Quang Ngai, Vietnam
Tan Tien Nguyen
Affiliation:
Ho Chi Minh City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam E-mails: [email protected], [email protected]
Byung Ryong Lee
Affiliation:
School of Mechanical Engineering, University of Ulsan, Ulsan, Korea E-mail: [email protected]
Tuong Quan Vo*
Affiliation:
Ho Chi Minh City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Biological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.

Keywords

Folding pectoral finsFlexible jointMorison forcePropulsive efficiencyStrouhal number
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 699 - 718
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Zhou, C. and Low, K. H., “Design and locomotion control of a biomimetic underwater vehicle with Fin Propulsion,” IEEE ASME Trans. Mechatron. 17(1), 25–35 (2012).CrossRefGoogle Scholar
Yu, J. and Zhang, C. and Liu, L., “Design and control of a single-motor-actuated robotic fish capable of fast swimming and maneuverability,” IEEE ASME Trans. Mechatron. 21(3), 1711–1719 (2016).CrossRefGoogle Scholar
Hanlin, L. and Oscar, C., “Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion,” Bioinspir. Biomim. 13(5), 056006 (2018).Google Scholar
Zhang, R., Shen, Z. and Wang, Z., “Ostraciiform underwater robot with segmented caudal fin,” IEEE Robot. Autom. Lett. 3(4), 2902–2909 (2018).CrossRefGoogle Scholar
Li, Z., Ge, L., Xu, W. and Du, Y., “Turning characteristics of biomimetic robotic fish driven by two degrees of freedom of pectoral fins and flexible body/caudal fin,” Int. J. Adv. Robot. Syst. 15(1), 1729881417749950 (2018).CrossRefGoogle Scholar
Krishnadas, A., Ravichandran, S. and Rajagopal, P., “Analysis of biomimetic caudal fin shapes for optimal propulsive efficiency,” Ocean Eng. 153, 132–142 (2018).CrossRefGoogle Scholar
Lauder, G. V., Anderson, E. J., Tangorra, J. and G., P. A. Madden, “Fish biorobotics: Kinematics and hydrodynamics of self-propulsion,” J. Exp. Biol. 210(16), 2767–2780 (2007).CrossRefGoogle ScholarPubMed
George, V. L., Peter, G. A. M., Rajat, M., Haibo, D. and Meliha, B., “Locomotion with flexible propulsors: I. Experimental analysis of pectoral fin swimming in sunfish,” Bioinspir. Biomim. 1(4), S25–S34 (2006).Google Scholar
Wang, L., Xu, M., Liu, B., Low, K. H., Yang, J. and Zhang, S., “A three-dimensional kinematics analysis of a Koi Carp pectoral fin by digital image processing,” J. Bion. Eng. 10(2), 210–221 (2013).CrossRefGoogle Scholar
Shiwu, Z., Bo, L., Lei, W., Qin, Y., Kin Huat, L. and Jie, Y., “Design and implementation of a lightweight bioinspired pectoral fin driven by SMA,” IEEE ASME Trans. Mechatron. 19(6), 1773–1785 (2014).Google Scholar
Yan, Q., Wang, L., Liu, B., Yang, J. and Zhang, S., “A novel implementation of a flexible robotic fin actuated by shape memory alloy,” J. Bion. Eng. 9(2), 156–165 (2012).CrossRefGoogle Scholar
Jeff, C. K., Jr., David, J. P. and James, L. T., “Predicting propulsive forces using distributed sensors in a compliant, high DOF, robotic fin,” Bioinspir. Biomim. 10(3), 036009 (2015).Google Scholar
Tangorra, J. L., Esposito, C. J. and Lauder, G. V., “Biorobotic Fins for Investigations of Fish Locomotion,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA (2009) pp. 2120–2125.Google Scholar
Hu, W.-R., “Hydrodynamic study on a pectoral fin rowing model of a fish,” J. Hydrodynam. B. 21(4), 463–472 (2009).CrossRefGoogle Scholar
Xu, Y.-G. and Wan, D.-C., “Numerical simulation of fish swimming with rigid pectoral fins,” J. Hydrodynam. B. 24(2), 263–272 (2012).CrossRefGoogle Scholar
Behbahani, S. B. and Tan, X., “Role of pectoral fin flexibility in robotic fish performance,” J. Nonlinear Sci. 27(4), 1155–1181 (2017).CrossRefGoogle Scholar
Behbahani, S. B. and Tan, X., “Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins,” Bioinspiration & Biomimetics 11(3), 036009 (2016).CrossRefGoogle ScholarPubMed
Behbahani, S. B. and Tan, X., “Design and modeling of flexible passive rowing joint for robotic fish pectoral fins,” IEEE Trans. Robot. 32(5), 1119–1132 (2016).CrossRefGoogle Scholar
Liu, B., Yang, Y., Qin, F. and Zhang, S., “Performance study on a novel variable area robotic fin,” Mechatronics. 32, 59–66 (2015).CrossRefGoogle Scholar
Yu, J., Wang, M., Dong, H., Zhang, Y. and Wu, Z., “Motion control and motion coordination of bionic robotic fish: A review,” J. Bion. Eng. 15(4), 579–598 (2018).CrossRefGoogle Scholar
Blake, R. W., “Influence of pectoral fin shape on thrust and drag in labriform locomotion,” J. Zool. 194(1), 53–66 (1981).CrossRefGoogle Scholar
Shoele, K. and Zhu, Q., “Numerical simulation of a pectoral fin during labriform swimming,” J. Exp. Biol. 213(12), 2038–2047 (2010).CrossRefGoogle ScholarPubMed
Kopman, V. and Porfiri, M., “Design, modeling, and characterization of a miniature robotic fish for research and education in biomimetics and bioinspiration,” IEEE ASME Trans. Mechatron. 18(2), 471–483 (2013).CrossRefGoogle Scholar
Aureli, M., Kopman, V. and Porfiri, M., “Free-locomotion of underwater vehicles actuated by ionic polymer metal composites,” IEEE ASME Trans. Mechatron. 15(4), 603–614 (2010).CrossRefGoogle Scholar
Morgansen, K. A., Triplett, B. I. and Klein, D. J., “Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles,” IEEE Trans. Robot. 23(6), 1184–1199 (2007).CrossRefGoogle Scholar
Wang, J., McKinley, P. K. and Tan, X., “Dynamic modeling of robotic fish with a base-actuated flexible tail,” J. Dyn. Syst. Meas. Control. 137(1), 011004-011004-11 (2014).CrossRefGoogle Scholar
Wang, J. and Tan, X., “Averaging tail-actuated robotic fish dynamics through force and moment scaling,” IEEE Trans. Robot. 31(4), 906–917 (2015).CrossRefGoogle Scholar
Changlong, Y., Shugen, M., Bin, L. and Yuechao, W., “Turning and Side Motion of Snake-like Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (2004) pp. 5075–5080.Google Scholar
Fossen, T. I., Guidance and Control of Ocean Vehicles, (John Wiley & Sons Ltd., Chichester, England, 1994) pp. 40–42.Google Scholar
Wang, J. and Tan, X., “A dynamic model for tail-actuated robotic fish with drag coefficient adaptation,” Mechatronics. 23(6), 659–668 (2013).CrossRefGoogle Scholar
Chan, W. L. and Kang, T., “Simultaneous determination of drag coefficient and added mass,” IEEE J. Oceanic Eng. 36(3), 422–430 (2011).CrossRefGoogle Scholar
Kendall, J. L., Lucey, K. S., Jones, E. A., Wang, J. and Ellerby, D. J., “Nature in engineering for monitoring the oceans: Comparison of the energetic costs of marine animals and AUVs,” Further Advances in Unmanned Marine Vehicles. 77, 373–405 (2012).Google Scholar
Phillips, A. B., Haroutunian, M., Man, S. K., Murphy, A. J., Boyd, S. W., Blake, J. I. R. and Griffiths, G., “Mechanical and energetic factors underlying gait transitions in bluegill sunfish (Lepomis macrochirus),” J. Exp. Biol. 210(24), 4265–4271 (2007).Google Scholar
Maertens, A. P., Triantafyllou, M. S. and Yue, D. K. P., “Efficiency of fish propulsion,” Bioinspir. Biomim. 10(4), 046013 (2015).CrossRefGoogle ScholarPubMed
Blake, R. W., “The mechanics of labriform locomotion II: An analysis of the recovery stroke and the overall fin-beat propulsive efficiency in the Angelfish,” J. Exp. Biol. 85, 337–342 (1980).Google Scholar
Walker, J. A., “Dynamics of pectoral fin rowing in a fish with an extreme rowing stroke: The threespine stickleback (Gasterosteus aculeatus),” J. Exp. Biol. 207(11), 1925–1939 (2004).Google Scholar
Sitorus, P. E., Nazaruddin, Y. Y., Leksono, E. and Budiyono, A., “Design and implementation of paired pectoral fins locomotion of labriform fish applied to a fish robot,” J. Bion. Eng. 6(1), 37–45 (2009).CrossRefGoogle Scholar
Triantafyllou, M. and Triantafyllou, G., “An efficient swimming machine,” Sci. Am. 272(3), 64–70 (1995).CrossRefGoogle Scholar
Anderson, J. M., Streitlien, K., Barrett, D. S. and Triantafyllou, M. S., “Oscillating foils of high propulsive efficiency,” J. Fluid Mech. 360, 41–72 (1998).CrossRefGoogle Scholar
Taylor, G. K., Nudds, R. L. and A., L. R. Thomas, “Flying and swimming animals cruise at a Strouhal number tuned for high power efficiency,” Nature. 425(6959), 707–711 (2003).CrossRefGoogle Scholar
Eloy, C., “Optimal Strouhal number for swimming animals,” J. Fluids. Struct. 30, 205–218 (2012).CrossRefGoogle Scholar
Blake, R. W., “The mechanics of labriform locomotion I. Labriform locomotion in the Angelfish (Pterophyllum Eimekei): An analysis of the power stroke,” J. Exp. Biol. 82(1), 255–271 (1979).Google Scholar