Abstract
SUMMARY Fish have excellent swimming ability underwater. Airship robots capable of performing low-speed, low-altitude flight with low energy have been investigated. Airship robots that perform “swimming in the air” in a manner similar to aquatic organisms by combining these features have been investigated and developed. The BFR (Balloon Fish Robot) is one such of type of robot. This paper deals with the simulated motion of the BFR and parameter optimization for the propulsion efficiency of an aquatic organism-like airship robot propelled by traveling waves. The controlling expression of the BFR is written as a traveling-wave equation. The equations of motion are defined by means of the controlling expression and the drag force. Comparative simulation and experimental investigation of the forward air speed of the BFR were used to evaluate its validity. The highest propulsion efficiency parameter was investigated by calculating using the experimental air speed, the maximum amplitude of the tail fin, and the traveling-wave frequency.
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