NDLI: Simulation Study on the Body Side-Sway Characteristic for Rigid Robot Fish

Content Provider	IEEE Xplore Digital Library
Author	Dan Xia Weishan Chen Junkao Liu Luhui Han
Copyright Year	2008
Description	Author affiliation: Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin (Dan Xia; Weishan Chen; Junkao Liu; Luhui Han)
Abstract	This paper reveals a new phenomenon of the body side-sway for rigid robot fish and proposes three effective restraining methods. The body side-sway problem is produced by the lateral component of hydrodynamic force and inertial force, while influenced by mass distribution of fish body and oscillating rules of caudal fin. Considering the body side-sway, a virtual prototype for two-joint robot fish, which is the simplified form of multi-joint robot fish, is established in $MSC-ADAMS^{reg}$ to conduct the simulation. Simulation results indicate that the body side-sway can reduce the amplitude of tail peduncle and change the attack angle of caudal fin, and then affect the thrust and the propulsive efficiency. To inhibit the harmful body side-sway which also contributes to the energy loss, we last summarize three restraining methods: attaching dorsal fin and pelvic fin, using the vibration absorber and building two parallel tail mechanisms.
Starting Page	1179
Ending Page	1184
File Size	2838269
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681332
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine animals Robot kinematics Tail Biological system modeling Virtual prototyping Biomimetics Prototypes Mechatronics Paper technology Hydrodynamics restraining method rigid robot fish body side-sway simulation study
Content Type	Text
Resource Type	Article

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