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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Thrust
Analysis On A Single-Drive Robotic Fish With An Elastic Joint |
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Authors: |
Yicun
Xu, Dongchen Qin, Cong
Liu, Houxiang Zhang |
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Published in:
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(2013).ECMS 2013 Proceedings edited
by: W. Rekdalsbakken, R. T. Bye, H. Zhang European Council for Modeling
and Simulation. doi:10.7148/2013 ISBN:
978-0-9564944-6-7 27th
European Conference on Modelling and Simulation, Aalesund, Norway, May 27th –
30th, 2013 |
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Citation
format: |
Yicun
Xu, Dongchen Qin, Cong
Liu, Houxiang Zhang (2013). Thrust Analysis On A
Single-Drive Robotic Fish With An Elastic Joint,
ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang, European Council for Modeling
and Simulation. doi:10.7148/2013-0719 |
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DOI: |
http://dx.doi.org/10.7148/2013-0719 |
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Abstract: |
This work
simplified tuna's swimming mode, then designed a single-drive robotic
fish propulsion mechanism which including an elastic joint, and established
the dynamics model of the mechanism. The thrust, resistance, resistance power
on different peduncle oscillation parameters, and torsional
stiffness of the caudal fin joint was simulated. The average thrust, maximum
resistance and the average power grow with the increasing of the oscillating
amplitude and the frequency. When the torsional
stiffness of the caudal fin joint becomes larger, the thrust decreases, the
resistance and the average power increase. The simulation results proved that
the mechanism can generate thrust in water and it may be used as a robot fish
propulsion mechanism. |
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