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http://dx.doi.org/10.5302/J.ICROS.2012.18.2.103

Maximum Thrust Condition by Compliant Joint of a Caudal Fin for Developing a Robotic Fish  

Park, Yong-Jai (Seoul National University)
Jeong, U-Seok (Seoul National University)
Lee, Jeong-Su (Seoul National University)
Kwon, Seok-Ryung (Seoul National University)
Kim, Ho-Young (Seoul National University)
Cho, Kyu-Jin (Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.2, 2012 , pp. 103-109 More about this Journal
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
robotic fish; compliance; maximum thrust; flapping;
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