Abstract
Biomimetic robot is a new branch of researched field which is developing quickly in recent years. Some of the popular biomimetic robots are fish robot, snake robot, dog robot, dragonfly robot, etc. Among the biomimetic underwater robots, fish robot and snake robot are mostly concerned. In this paper, we study about an optimization method to find the design parameters of fish robot. First, we analyze the dynamic model of the 3-joint Carangiform fish robot by using Lagrange method. Then the Genetic Algorithm (GA) is used to find the optimal lengths’ values of fish robot’s links. The constraint of this optimization problem is that the values of fish robot’s links are chosen that they can make fish robot swim with the desired straight velocity. Finally, some simulation results are presented to prove the effectiveness of the proposed method
Highlights
Fish has been passing over millions years of evolution throughout many generations to adapt to the harsh of underwater environment
The results of fish robot straight velocity when we apply the results from Genetic Algorithm (GA) and the arbitrary values are introduced in Fig. 7 and Fig. 8 below
We considered the dynamic model of a 3-joint Carangiform fish robot
Summary
Fish has been passing over millions years of evolution throughout many generations to adapt to the harsh of underwater environment. Many kinds of fish move by using the change of their body shape for generating the movement. Carangiform fish type uses this changing shape to move itself in the underwater environment. Based on the motion mechanism of Carangiform fish, there are some researches about this type of motion. Qin Yan et al have experiments to investigate the influences of characteristic parameters such as the frequency, the amplitude, the wave length, the phase difference and the coefficient on forward velocity of robot fish [2]. Yeffry Handoko et al designed three types of body constructions of robot fish to gain optimal thrust speed [3]. The influences of fluid force to the motion of fish robot are considered which is based on Nakashima’s study on the propulsive mechanism of a double jointed fish robot [5]. The dynamics system of fish robot and some other related constrains are considered when we carry on the optimization problem
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