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Three-dimensional swimming robotic fish with slide-block structure: design and realization

Published online by Cambridge University Press:  16 December 2013

Yongnan Jia  and
Long Wang
Yongnan Jia*
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, P. R. China
Long Wang
Affiliation:
Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, P. R. China
*
*Corresponding author. E-mail: ynjia@pku.edu.cn
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Summary

This paper focuses on the mechanism design of a slide-block structure and its application on a biomimetic modular robotic fish for three-dimensional swimming. First, as a barycenter-adjustor, the slide-block structure is integrated into a mechanical design of a robotic fish, which is constructed by a control module, a driving module, and a fan-shaped caudal fin. The three-dimensional locomotion of robotic fish is decomposed into two-dimensional locomotion in horizontal plane and ascent–descent locomotion in vertical plane. Both the kinematics of the horizontal swim and the dynamics of the ascent–descent swim are analyzed by the curve fitting method. Finally, experimental results validate the three-dimensional swimming capability of the robotic fish. Furthermore, the impact of two design parameters on the swimming capability of the robotic fish is discussed by the experimental method. The experimental results confirm that the robotic fish with one driving module and a fan-shaped low-aspect-ratio caudal foil can produce higher propulsive speed than other parameter combinations.

Keywords

Autonomous underwater vehiclesBiomimetic robotsMechatronic systems
Type
Articles
Information
Robotica , Volume 32 , Issue 5 , August 2014 , pp. 823 - 834
Copyright
Copyright © Cambridge University Press 2013 

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