Optimization of biomimetic propulsion in a fish like robot

robotics;biomimetics;fish;Actuation Biomimic fish \rrobot (AHAB)

Kamadulski, Steve ; Bentsman ; Joseph

关键词: robotics;    biomimetics;    fish;    Actuation Biomimic fish \rrobot (AHAB);   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/31080/Kamadulski_Steve.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

The study of biomimetics is largely driven by the desire to integrate design advantagesfound in the natural world to experimental devices and, ultimately, practical machines.The work contained herein consisted of the construction of a biomimetic carangiformrobotic fish as a functional experimental apparatus, the prediction of propulsive forces basedon mechanical fish tail linkage kinematics using a lift based theory, an experimental processto obtain fish swimming velocity data for a number of different swim profiles, and thecomparison of theoretical to experimental results.The robot constructed possesses a propulsive section with five short links capable offitting the sinusoids produced by Lighthill’s model of fish tail motion accurately.A lift based model was developed and estimated the net propulsive force generated persquare foot of foil to be 6.53 lbf/ft2 of foil, 7.78 lbf/ft2, and 7.95 lbf/ft2 for the three casesevaluated theoretically.The trends in the experimental fish swimming velocity data point to convergence at0.375 ft/s, 0.40 ft/s, and 0.42 ft/s in the three varied C-term wave envelope coefficients testscorresponding to the force estimates above.The experimental data points to validation of the theoretical model, and it has thepotential to be a useful tool in planning fish tail kinematics in future work.