A Dynamic Model for Robotic Fish with Flexible Pectoral Fins

被引：0

作者：

Behbahani, Sanaz Bazaz ^{[1
]}

Wang, Jianxun ^{[1
]}

Tan, Xiaobo ^{[1
]}

机构：

[1] Michigan State Univ, Dept Elect & Comp Engn, Smart Microsyst Lab, E Lansing, MI 48824 USA

来源：

2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING | 2013年

关键词：

DESIGN; LOCOMOTION; PROPULSION; SIMULATION; MECHANICS; STROKE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the dynamic modeling, design and fabrication of a free-swimming robotic fish with flexible pectoral fins. To capture the flexibility of the fins, a multi-segment model with torsional springs and viscous dampers is introduced and the hydrodynamic force on each segment is calculated based on the blade element theory. Other forces such as added mass, quasi-static lift, and drag are also considered in modeling the dynamics of the robot. A robotic fish has been prototyped, which has a 3D-printed body and a pair of servo-actuated flexible pectoral fins. The proposed dynamic model is validated with experiments done on the robotic fish, where the model predictions of forward swimming speeds and steady turning periods and radii are found to match closely the experimental measurements when the pectoral fins are actuated at different frequencies.

引用

页码：1552 / 1557

页数：6