Mathematical Modelling and Feasibility Study ofthe Biomimetic Undulating Fin of a Knife Fish Robot

• Autorzy: Meera A. A. , Sudheer A. P.

Identyfikatory

DOI

10.14313/JAMRIS_1-2016/3

• Języki publikacji: EN

Abstrakty

EN

Bio-mimetic underwater robotics is an emerging area of research, which has the potential to substitute the conventional energy inefficient mode of underwater propulsion using thrusters. In this paper, the mathematical modelling of the undulating fin is done and the effect of various parameters of the mechanism design on the available workspace is studied. The mathematical beauty is revealed, for the curves representing the mechanical constraint and the family of undulating waves. The feasibility of a wave to be generated by the mechanism was analyzed.

Słowa kluczowe

EN

biomimetic design; propulsion; fins; mechanism; underwater robotics; five bar mechanism; fish robot

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2016
• Tom: Vol. 10, No. 1
• Strony: 17--25
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Meera A. A.

• Robotics Interest Group, Department of Mechanical Engineering, National Institute of Technology, Calicut, Kerala, India-673601. Tel. [phone]

autor

Sudheer A. P.

• Department of Mechanical Engineering Robotics\Mechatronics Lab National Institute of Technology, Calicut Kerala, India- 673601 Tel. [phone]

Bibliografia

• [1] Low K.H, Willy A., “Biomimetic Motion Planning of an Undulating Robotic Fish Fin”, Journal of Vibration and Control, 2006, vol. 12, no. 12, 1337–1359. DOI: 10.1177/1077546306070597.
• [2] Wang S., Dong X., Shang L.-J., et al., “Design and Kinetic Analysis of a Biomimetic Underwater Vehicle with Two Undulating Long-fins”, Acta Automatica Sinica, 2013, vol. 39, no. 8, 1330–1338.DOI: 10.1016/S1874-1029(13)60049-X.
• [3] Sugimori S., Miki H., Yamamoto R., et al., “Braking Performance of a Biomimetic Squid-Like Underwater Robot”, Japan Journal of Bionic Engineering, 2013, vol. 10, no. 3, 265–273. DOI: 10.1016/S1672-6529(13)60222-X.
• [4] Low K.H., “Modelling and parametric study of modular undulating fin rays”, Mechanism and Machine Theory, 2009, vol. 44, no. 3, 615–632. DOI: 10.1109/ICMA.2007.4303527.
• [5] Morawski M., Malec M., Szymak P., Trzmiel A., “Analysis of Parameters of Traveling Wave Impact on the Speed of Biomimetic Underwater Vehicle”,Solid State Phenomena, vol. 210, 273–279,Oct. 2013, DOI: 10.4028/www.scientific.net/SSP.210.273.
• [6] Curet O. M., Lauder G.V., MacIver M.A., Ruiz-Torres R., “Kinematics of the ribbon fin in hovering and swimming of the electric ghost knifefish”, Journal of Experimental Biology, 2012, vol. 216, no. 5, 823–834. DOI: 10.1242/jeb.076471.
• [7] Bale R., Pal A., Bhalla S., et al., “Undulating fins produce off-axis thrust and flow structures”, Journal of Experimental Biology, 2014, vol. 217, no. 2, pp. 201–213. DOI: 10.1242/jeb.091520
• [8] Curet O.M., Neelesh A. Patankar, and M.A. MacIver Anup A. Shirgaonkar, “The hydrodynamics of ribbon-fin propulsion during impulsive motion”, Journal of Experimental Biology, 2008, vol. 211, no. 21, pp. 3490–3503. DOI: 10.1242/jeb.019224.
• [9] Patankar N.A., Lauder G.V., MacIver M.A., Curet O.M., “Aquatic manoeuvering with counter-propagating waves: a novel locomotive strategy”, Journal of Royal Society Interface, 2010, vol. 8, no. 60, 1041–1050. DOI: 10.1098/rsif.2010.0493
• [10] Nevelnb I.D., Rothc E., Mitchelld T.R.T., et al., “Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability”, PNAS, 2013, vol. 110, no. 47, 18798–18803. DOI: 10.1073/pnas.1309300110.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.