Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Maximum Thrust Condition by Compliant Joint of a Caudal Fin for Developing a Robotic Fish

물고기 로봇 개발을 위한 유연한 꼬리 지느러미 관절의 강성에 따른 최대 추력 조건 연구

  • 박용재 (서울대학교 기계항공공학부 바이오로보틱스 실험실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 정우석 (서울대학교 기계항공공학부 바이오로보틱스 실험실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 이정수 (서울대학교 기계항공공학부 마이크로 유체역학 실험실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 권석령 (서울대학교 기계항공공학부 바이오로보틱스 실험실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 김호영 (서울대학교 기계항공공학부 마이크로 유체역학 실험실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 조규진 (서울대학교 기계항공공학부 바이오로보틱스 실험실/서울대학교 정밀기계설계공동연구소(IAMD))
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.02.01
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Abstract

Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.

Keywords

References

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