Design Optimization of the Biomimetic Undulating Fin of a Knife Fish Robot

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

Identyfikatory

DOI

10.14313/JAMRIS_1-2016/4

• Języki publikacji: EN

Abstrakty

EN

Median Paired Fin Propulsion used by fishes like knife fish, has the potential to replace current energy inefficient underwater propulsion systems. This paper quantizes the efficiency of a fin mechanism based on its ability to incorporate a large number of undulations. Characteristic ellipses of a mechanism were defined, based on which two algorithms were defined to measure the capabilities of the mechanism. The available workspace of the mechanism was optimized to accommodate the undulation requirements of the robot based on the formulations. Further, the distortion effect on the waveform was identified and the optimization was redefined to obviate its possibility while in operation.

Słowa kluczowe

EN

mechanism; underwater robot; propulsion; optimization; biomimetic design; 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: 26--33
• Opis fizyczny: Bibliogr. 11 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] Triantafyllou M.S., Yue D. K. P., Grosenbaugh M. A., Wolfgang M. J., Barrett D. S., “Drag reduction in fish like locomotion”, Journal of Fluid Mechanics, 1999, vol. 392, 83–212. DOI: 10.1017/S0022112099005455.
• [2] Onal C.D., Rus D., Marchese A. D., “Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators”, Soft Robotics, 2014, vol. 1, no. 1, 75–87. doi:10.1089/soro.2013.0009.
• [3] Low K.H, “Modelling and parametric study of modular undulating fin rays”, Mechanism and Machine Theory, 2009, vol. 44, no. 3, 615–632.DOI:10.1016/j.mechmachtheory.2008.11.009
• [4] 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.
• [5] Lincheng Shen, Tianjiang Hu, Guangming Wang, “Kinematic Modeling and Dynamic Analysis of the Long-based Undulation Fin”, Icarv, 5-8 Dec. 2006, 1–6. DOI: 10.1109/ICARCV.2006.345111.
• [6] 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.
• [7] 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.
• [8] Patankar N. A., Lauder G. V., MacIver M. A., Curet O. M., “Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor”, Bioinspiration and Biomimetics, April 2011, vol. 6, no. 2. Doi:10.1088/1748-3182/6/2/026004.
• [9] Lamas M. I., J. D. Rodriguez, C. G. Rodriguez, “CFD Analysis of Biologically Inspired Marine Propulsors”, Brodogradnja, 2012, vol. 63, no. 2, 125–133.
• [10] Tianmiao Wang, Guanhao Wu, and Jianhong Liang Li Wen, “Quantitative Thrust Efficiency of a Self-Propulsive Robotic Fish: Experimental Method and Hydrodynamic Investigation”, IEEE/ASME Transactions on Mechatronics, June 2013, vol. 18, no. 3, 1027–1038. DOI: 10.1109/TMECH.2012.2194719
• [11] 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

Uwagi

PL

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