The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

탄성 조인트로 연결된 이중 꼬리 지느러미 오스트라키폼 물고기 로봇의 추진력 해석 및 조인트 위치가 추력에 미치는 영향

  • Received : 2011.04.26
  • Accepted : 2011.08.16
  • Published : 2011.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.

Keywords

References

  1. Videler J. J., Fish Swimming, Chapman & Hall, London, U.K. (1993).
  2. Gray J., Studies in Animal Locomotion VI. The Propulsive Powers of the Dolphin, Journal of Experimental Biology, 13 (1935) 192‐199.
  3. Sfakiotakis M., Lane D. M. & Davies J. C., "Review of Fish Swimming Modes for Aquatic Locomotion," Journal of Oceanic Engineering, Vol.24, No.2, pp.237‐252, 1999.
  4. Lighthill M.J., "Aquatic animal propulsion of high hydromechanical efficiency," Journal of Fluid Mechanics, Vol.44, pp.265-301, 1970. https://doi.org/10.1017/S0022112070001830
  5. Listak M., Martin G., Pugal D., Aabloo A. & Kruusmaa M., "Design of a semiautonomous biomimetic underwater Vehicle for environmental monitoring," Proceedings of 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp.9-14, 2005.
  6. Bandyopadhyay R., "Trends in Biorobotic Autonomous Undersea Vehicles," Journal of Oceanic Engineering, Vol.29, pp.1-32, 2004. https://doi.org/10.1109/JOE.2003.823311
  7. Barret D. S., Triantafyllou M. S., Yue D. K. P., Grosenbaugh M. A., Wolfgang M. J., "Drag Reduction in Fish‐like Locomotion," Journal of Fluid Mechanics, Vol.392, pp.183-212, 1999. https://doi.org/10.1017/S0022112099005455
  8. Kumph J.M., "Maneuvering of a Robotic Pike," MS thesis, Massachusetts Institute of Technology, 2000.
  9. Anderson J. M., Kerrebrock P. A., "The Vorticity Control Unmanned Undersea Vehicle (VCUUV): An Autonomous Robot Tuna," The 11th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, August 23‐25, 1999, Available at: http://www.draper.com/digest2000/ paper6.pdf.
  10. Anderson J. M. and Chhabra N. K., "Maneuvering and stability performance of a robotic tuna," Integrative and Comparative Biology, Vol.42, No.1, pp.118-126, 2002. https://doi.org/10.1093/icb/42.1.118
  11. Vela P. A., Morgansen K. A., and Burdick J. W., "Underwater locomotion from oscillatory shape deformations," Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA, December 2002.
  12. Selverston A. I., Rabinovich M. I., Huerta R., Novotn, T., Levi R., Arshavsky Y., Volkovskii A., Ayers J. and Pinto R., " Biomimetic Central Pattern Generators for Robotics and Prosthetics," In ROBIO2004, IEEE International Conference on Robotics and Biomimetics, Vol.1, pp.885-888, Shenyang, China.2005.
  13. Deng X. and Avadhanula S., "Biomimetic Micro Underwater Vehicle with Oscillating Fin Propulsion: System Design and Force Measurement," 1570621abstract Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. Barcelona, Spain, pp.3312-3317, 18-22 April 2005.
  14. Liu J., Hu H., "Biological Inspiration: From Carangiform Fish to Multi‐Joint Robotic Fish," Journal of Bionic Engineering, Vol.7, No.1, pp.35-48, 2010. https://doi.org/10.1016/S1672-6529(09)60184-0
  15. Hirata K., Takimoto T., & Tamura K., "Study on turning performance of a fish robot," Proceeding of 1st International Symposium Aqua Bio‐Mech., Honolulu, HI, pp.287-287, Aug 2000.
  16. Yu J.Z., Wang L. & Tan M., "A framework for biomimetic robot fish's design and its realization," 2005 American Control Conference, Portland, OR, USA, June, 2005.
  17. Hur M., Kang T., Chan W. L., Choi J.M., "$H{\infty}$ controller design of an ostraciiform swimming fish robot," Indian Journal of Marine Sciences, Vol.38, pp.302-307, September 2009.
  18. Seunghee Lee, Jounghyun Park, and Cheolheui Han, "Optimal control of a mackerel‐mimicking robot for energy efficient trajectory tracking," Journal of Bionic Engineering, Vol.4, Issue 4, pp.209-215, December 2007. https://doi.org/10.1016/S1672-6529(07)60034-1
  19. Sitorus P.E., Nazarudin Y.Y., Leksono E. & Budiyono A., "Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot," Journal of Bionic Engineering, Vol 6, pp.37-45, 2009. https://doi.org/10.1016/S1672-6529(08)60100-6
  20. Breder C.M., The Locomotion of Fishes, Zoologica, Vol.4, pp.159-296.
  21. Garner L.J., Wilson L. N., Lagoudas D.C. & Rediniotis O.K., "Development of a Shape Memory Alloy Actuated Biomimetic Vehicle," Smart Master Structure, Vol.9, pp.673-683, 2000. https://doi.org/10.1088/0964-1726/9/5/312
  22. Seok Heo, Tedy Wiguna, Hoon Cheol Park, and Nam Seo Goo, "Effect of an artificial caudal fin on the performance of a biomimetic fish robot propelled by piezoelectric actuators," Journal of Bionic Engineering, Vol.4, Issue 3, pp.151-158, September 2007. https://doi.org/10.1016/S1672-6529(07)60027-4
  23. Guo S., Fukuda T. & Asaka K., "A New Type of Fish‐Like Underwater Microrobot," IEEE/ ASME Transactions on Mechatronics, Vol.8, No.1, 2003.
  24. Schouveiler L., Hover F.S., and Triantafyllou M.S., "Performance of flapping foil propulsion," Journal of Fluids and Structures, Vol.20, pp.949 -959, 2005. https://doi.org/10.1016/j.jfluidstructs.2005.05.009
  25. Blake R.W., Fish Locomotion, Cambridge University Press, 1983.
  26. Harper, K.A., Berkemeier M.D., and Grace S., "Modeling the Dynamics of Spring‐Driven Oscillating -Foil Propulsion," IEEE Journal of Oceanic Engineering, Vol.23, No.3, July 1998.
  27. Motomu NAKASHIMA, Norifumi OHGISHI, and Kyosuke ONO, "A Study on the Propulsive Mechanism of a Double Jointed Fish Robot Utilizing Self‐Excitation Control," JSME International Journal, Series C, Vol.46, No.3, pp.982-990, 2003. https://doi.org/10.1299/jsmec.46.982
  28. Tuong Quan Vo, Hyoung Seok Kim, Byung Ryong Lee, "Propulsive Velocity Optimization of 3‐Joint Fish Robot Using Genetic‐Hill Climing Algorithm," Journal of Bionic Engineering, Vol.6, No.4, pp.415-429, 2009. https://doi.org/10.1016/S1672-6529(08)60140-7
  29. Yong‐Jai Park, Useok Jung, Jeongsu Lee, Ho‐ Young Kim, and Kyu‐Jin Cho, "The effect of Compliant Joint and Caudal Fin in Thrust Generation for Robotic Fish," Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, The University of Tokyo, Tokyo, Japan, September 26‐29, 2010.
  30. Pablo Valdivia y Alvarado and Kamal Youcef‐ Toumi, "Design of Machines with Compliant Bodies for Biomimetic Locomotion in Liquid Environments," Journal of Dynamic Systems, Measurement, and Control, Vol.128, pp.3-13, March 2006. https://doi.org/10.1115/1.2168476
  31. Jeffrey A. Walker, "Does a Rigid Body Limit Maneuverability?" Journal of Experimental Biology, Vol.203, pp.3391-3396, 2000.
  32. Parasar Kodati and Xinyan Deng, "Experimental Studies on the Hydrodynamics of Robotic Ostraciiform Tail Fin," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9‐15, 2006, Beijing, China.

Cited by

  1. Maximum Thrust Condition by Compliant Joint of a Caudal Fin for Developing a Robotic Fish vol.18, pp.2, 2012, https://doi.org/10.5302/J.ICROS.2012.18.2.103