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A simplified propulsive model of bio-mimetic robot fish and its realization

Published online by Cambridge University Press:  12 January 2005

Junzhi Yu ,
Shuo Wang  and
Min Tan
Junzhi Yu
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing (China) 100080 (E-mail: [email protected])
Shuo Wang
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing (China) 100080 (E-mail: [email protected])
Min Tan
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing (China) 100080 (E-mail: [email protected])
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Abstract

This paper presents a simplified kinematics propulsive model for carangiform propulsion. The carangiform motion is modeled as a serial $N$-joint oscillating mechanism that is composed of two basic components: the streamlined fish body represented by a planar spline curve and its lunate caudal tail by an oscillating foil. The speed of fish's straight swimming is adjusted by modulating the joint's oscillatory frequency, and its orientation is tuned by different joint's deflections. The experimental results showed that the proposed simplified propulsive model could be a viable candidate for application in aquatic swimming vehicles.

Keywords

Propulsive modelRobot fishCarangiform propulsionBody wave
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 101 - 107
Copyright
2005 Cambridge University Press

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