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.

Fish-Like Self Propulsion Using Flexible Piezoelectric Composites

2012 ◽  
Author(s):  
Lejun Cen ◽  
Alper Erturk
Keyword(s):  
Smart Materials ◽  
Electromechanical Coupling ◽  
High Efficiency ◽  
Fiber Composite ◽  
Actuation Voltage ◽  
Robotic Fish ◽  
Circuit Board ◽  
Modeling Framework ◽  
Actuator Dynamics ◽  
Body Theory

The capacity of humankind to mimic fish-like locomotion for engineering applications depends mainly on the availability of suitable actuators. Researchers have recently focused on developing robotic fish using smart materials, particularly Ionic Polymer-Metal Composites (IPMCs), as a compliant, noise-free, and scalable alternative to conventional motor-based propulsion systems. In this paper, we investigate fish-like self propulsion using flexible bimorphs made of Macro-Fiber Composite (MFC) piezoelectric laminates. Similar to IPMCs, MFCs also exhibit high efficiency in size, energy consumption, and noise reduction. In addition, MFCs offer large dynamic forces in bending actuation, strong electromechanical coupling as well as both low-frequency and high-frequency performance capabilities. The experimental component of the presented work focuses on the characterization of an MFC bimorph propulsor for thrust generation in a quiescent fluid as well as the development of a preliminary robotic fish prototype incorporating a microcontroller and a printed-circuit-board (PCB) amplifier to generate high actuation voltage for battery-powered free locomotion. From the theoretical standpoint, a reliable modeling framework that couples the actuator dynamics, hydroelasticity, and fish locomotion theory is essential to both design and control of robotic fish. Therefore, a distributed-parameter electroelastic model with fluid effects and actuator dynamics is coupled with the elongated body theory. Both in-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated body theory to predict the thrust output. Experiments are conducted to validate the electrohydroelastic modeling approach employed in this work and to characterize the performance of an MFC bimorph propulsor. Finally, a battery-powered preliminary robotic fish prototype is developed and tested in free locomotion.

scholarly journals Hydrodynamic Modeling and Design of Robotic Fish using Slender Body Theory

2021 ◽  
Vol 1012 ◽  
pp. 012007
Author(s):  
Palmani Duraisamy ◽  
Manigandan Nagarajan Santhanakrishnan
Keyword(s):  
Hydrodynamic Modeling ◽  
Robotic Fish ◽  
Slender Body ◽  
Slender Body Theory ◽  
Body Theory

Dynamics of 3D Micropolar Gyroelastic Beams

2014 ◽  
Author(s):  
Soroosh Hassanpour ◽  
G. R. Heppler
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Modeling ◽  
Dynamic Equations ◽  
Hamilton’S Principle ◽  
The Finite Element Method ◽  
Hamilton's Principle ◽  
Modeling And Analysis ◽  
Element Method

This paper is devoted to the dynamic modeling of micropolar gyroelastic beams and explores some of the modeling and analysis issues related to them. The simplified micropolar beam torsion and bending theories are used to derive the governing dynamic equations of micropolar gyroelastic beams from Hamilton’s principle. Then these equations are solved numerically by utilizing the finite element method and are used to study the spectral and modal behaviour of micropolar gyroelastic beams.

Effect of payloads contact upon the coupled dynamic response of two cooperating robots

Robotica ◽  
1996 ◽  
Vol 14 (6) ◽  
pp. 659-665
Author(s):  
G. Shagal ◽  
S.A. Meguid
Keyword(s):  
Dynamic Response ◽  
Function Method ◽  
Search Algorithm ◽  
Contact Region ◽  
Dynamic Equations ◽  
Penalty Function Method ◽  
The Finite Element Method ◽  
Contact Search ◽  
Cooperating Robots ◽  
Lagrange’S Method

The coupled dynamic response of two cooperating robots handling two flexible payloads is treated using a new algorithm. In this algorithm, the dynamic equations describing the system are obtained using Lagrange's method for the rigid robot links and the finite element method for the flexible payloads. The contact between the flexible payloads is modelled using the penalty function method and a contact search algorithm is employed to identify the contact region.

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

Cayley kinematics and the Cayley form of dynamic equations

2005 ◽  
Vol 461 (2055) ◽  
pp. 761-781 ◽  
Author(s):  
Andrew J. Sinclair ◽  
John E. Hurtado
Keyword(s):  
Euler Equations ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Rigid Bodies ◽  
Matrix Form ◽  
Dynamic Equations ◽  
Cayley Transform ◽  
Higher Dimensional ◽  
The Matrix ◽  
General Motion

The Cayley transform and the Cayley–transform kinematic relationships are an important and fascinating set of results that have relevance in N –dimensional orientations and rotations. In this paper these results are used in two significant ways. First, they are used in a new derivation of the matrix form of the generalized Euler equations of motion for N –dimensional rigid bodies. Second, they are used to intimately relate the motion of general mechanical systems to the motion of higher–dimensional rigid bodies. This approach can be used to describe an enormous variety of systems, one example being the representation of general motion of an N –dimensional body as pure rotations of an ( N + 1)–dimensional body.

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