The Ground Motion Dynamics Analysis of a Bionic Amphibious Robot with Undulatory Fins

Abstract

At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.