Hydrodynamics modeling of a piezoelectric micro-robotic fish with double caudal fins

2021 ◽  
pp. 1-24
Author(s):  
Quan-Liang Zhao ◽  
Jinghao Chen ◽  
Hongkuan Zhang ◽  
Zhonghai Zhang ◽  
Zhikai Liu ◽  
...  
Keyword(s):  
Piezoelectric Actuator ◽  
Robotic Fish ◽  
Caudal Fin ◽  
Four Bar Linkage ◽  
Kinetics Of ◽  
Blade Element

Abstract An analytical hydrodynamics model for a piezoelectric micro-robotic fish with double caudal fins is presented in this paper. The relation between displacement of the piezoelectric actuator and oscillating angle of the caudal fin is established based on the analysis of the flexible four-bar linkage transmission. The hydrodynamics of caudal fins are described by airfoil and blade element theories. Furthermore, the dynamics and kinetics of the whole micro-robotic fish are analyzed and validated by experiments.

scholarly journals Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

2021 ◽  
Vol 71 (1) ◽  
pp. 94-101
Author(s):  
M. Muralidharan ◽  
I.A. Palani
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Open Loop ◽  
Robotic Fish ◽  
Water Medium ◽  
Light Weight ◽  
Caudal Fin ◽  
Locomotion Pattern ◽  
Sma Spring

In this paper, a shape memory alloy (SMA) actuated subcarangiform robotic fish has been demonstrated using a spring based propulsion mechanism. The bionic robotic fish developed using SMA spring actuators and light weight 3D printed components can be employed for under water applications. The proposed SMA spring-based design without conventional motor and other rotary actuators was able to achieve two-way shape memory effect and has reproduced the subcarangiform locomotion pattern. The positional kinematic model has been developed and the dynamics of the proposed mechanism were analysed and simulated using Automated Dynamic Analysis of Mechanical Systems (ADAMS). An open loop Arduino-relay based switching control has been adopted to control the periodic actuation of the SMA spring mechanism. The undulation of caudal fin in air and water medium has been analysed. The caudal fin and posterior body of the developed fish prototype have taken part in undulation resembling subcarangiform locomotion pattern and steady swimming was achieved in water with a forward velocity of 24.5 mm/s. The proposed design is scalable, light weight and cost effective which may be suitable for underwater surveillance application.

Development of shape memory alloy actuated caudal fin soft robotic fish propulsion system

2021 ◽  
Author(s):  
Abel Thanagawng ◽  
Rylan King ◽  
Vasil Lakimovitch ◽  
Marius Pruessner ◽  
Lloyd Emokpae ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Propulsion System ◽  
Robotic Fish ◽  
Caudal Fin ◽  
Fish Propulsion

scholarly journals Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Junzhi Yu ◽  
Kai Wang ◽  
Min Tan ◽  
Jianwei Zhang
Keyword(s):  
Visual Processing ◽  
Vision System ◽  
The Body ◽  
Robotic Fish ◽  
Multiple Control ◽  
Caudal Fin ◽  
Embedded Vision ◽  
And Control ◽  
Control Surfaces ◽  
Pelvic Fin

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

Dynamic Modeling of Robotic Fish Caudal Fin With Electrorheological Fluid-Enabled Tunable Stiffness

2015 ◽  
Author(s):  
Sanaz Bazaz Behbahani ◽  
Xiaobo Tan
Keyword(s):  
Equations Of Motion ◽  
Electrorheological Fluid ◽  
Robotic Fish ◽  
Dynamic Equations ◽  
The Finite Element Method ◽  
Modeling Framework ◽  
Caudal Fin ◽  
Body Theory ◽  
Tunable Stiffness ◽  
Er Fluid

In this study, we investigate the modeling framework for a robotic fish actuated by a flexible caudal fin, which is filled with electrorheological (ER) fluid and thus enables tunable stiffness. This feature can be used in optimizing the robotic fish speed or maneuverability in different operating regimes. The robotic fish is assumed to be anchored and the flexible tail undergoes undulation activated by a servomotor at the base. Lighthill’s large-amplitude elongated-body theory is used to calculate the hydrodynamic force on the caudal fin, and Hamilton’s principle is used to derive the dynamic equations of motion of the caudal fin. The dynamic equations are then discritized using the finite element method, to obtain an approximate numerical solution. In particular, simulation is conducted to understand the influence of the applied electric field on the stiffness and thrust performance of the caudal fin.

Analysis and Design of a Four-Bar Linkage Type of Vibratory Parts Feeder Driven by Piezoelectric Actuator

2002 ◽  
Author(s):  
Yung Ting ◽  
Min-Sheng Shin ◽  
Hong-Yuan Chang
Keyword(s):  
Dynamic Modeling ◽  
Piezoelectric Actuator ◽  
Good Accuracy ◽  
Experimental Result ◽  
Linkage Mechanism ◽  
Analysis And Design ◽  
Output Performance ◽  
Feedback Design ◽  
Analytical Result ◽  
Four Bar Linkage

In this article, vibratory parts feeder widely used in industrial automation with the structure of a symmetric four-bar linkage mechanism driven by piezoelectric actuator is investigated. The dynamic modeling and simulation of the system as well as the driving controller are developed. Experiment is carried out to measure the practical acceleration and force of the vibratory platform. In comparison the experimental result with the analytical result, both outcomes are quite matched, which indicates their good accuracy. Driving control circuitry with feedback design is instrumental to provide steady output performance. Finally, optimum design to improve the transport speed and keep the parts in order is discussed.

scholarly journals Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin

2012 ◽  
Vol 28 (6) ◽  
pp. 1216-1227 ◽  
Author(s):  
Yong-Jai Park ◽  
Useok Jeong ◽  
Jeongsu Lee ◽  
Seok-Ryung Kwon ◽  
Ho-Young Kim ◽  
...  
Keyword(s):  
Robotic Fish ◽  
Caudal Fin ◽  
Kinematic Condition

scholarly journals Turning characteristics of biomimetic robotic fish driven by two degrees of freedom of pectoral fins and flexible body/caudal fin

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141774995 ◽  
Author(s):  
Zonggang Li ◽  
Liming Ge ◽  
Weiqiang Xu ◽  
Yajiang Du
Keyword(s):  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Robotic Fish ◽  
Flexible Body ◽  
Caudal Fin ◽  
Two Degrees Of Freedom ◽  
Pectoral Fins ◽  
Turn On ◽  
Biomimetic Robotic Fish ◽  
Two Degree Of Freedom

This article considers the turning characteristics of robotic fish with two-degree-of-freedom pectoral fins and flexible body/caudal fin. The hydrodynamics are first established for three cases propelled by both sides of pectoral fins, flexible body/caudal fin, and composite of them. Then, the turning characteristics of such three cases are analyzed by numerical simulations and experiments. The results show that if robotic fish is cooperatively propelled by pectoral fins and flexible body, it can obtain the fast turning speed and the average turning speed is up to 0.6 rad s−1. The smallest turning speed is achieved as robotic fish is only propelled by pectoral fins; however, it can turn on the spot in this case. The presented results provide the more abundant ways of turning, the better maneuverability, and the higher turning speed for the proposed robotic fish.

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