Abstract
This paper presents the steps for the mathematical modelling of a fish robot with four degrees of freedom (DOF) called UC-Ika 1. The swimming motion of the robot, which is inspired by tuna fish, needs to generate an undulatory motion by its tail peduncle and caudal fin. Hence, the robot has the benefit of a tail mechanism that plays a determining role in the dynamic behaviour of the robot. Analysing this tail mechanism and the hydrodynamic forces acting upon the fish robot, the governing equations of motion of the robot are derived. Solving these dynamic equations reveals that the robot has a cruising speed of 0.29 m/s, a slight oscillation in the Y direction, and a small swing around its centre of mass. These results are validated by the experimental results of UC-Ika 1.
Highlights
Undersea operation, oceanic supervision, aquatic life-form observation, pollution search and military detection are just a few examples that demand the development of underwater robots to replace humans [1]
The hydrodynamic forces generated by the motion of the caudal fin determine the swimming performance of the fish robot
Those forces are significantly affected by the dynamic behaviour of point F, which is actuated by Link 1 of the tail mechanism
Summary
Oceanic supervision, aquatic life-form observation, pollution search and military detection are just a few examples that demand the development of underwater robots to replace humans [1]. Trajectory-based models such as [1, 20] use only the experimental observations of the body shape of real fishes during swimming, and apply those observations for the modelling of the body form of the swimming robots These models are purely kinematics-based models and cannot fully represent the robot’s motion, since the roles of propulsive and resistive forces are ignored. The existing models consider that the links are in contact with the surrounding fluid and that the hydrodynamic forces are acting directly upon them This assumption is not reliable since most of the times the robot is covered by a skin layer. The hydrodynamic forces are calculated considering those DOF and the variable speed of the flow around the fish This variability submits a more representative model, it is vulnerable due to the constant parameters of the equations, including the frequency and amplitude of the undulation wave.
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