DocumentCode :
3448434
Title :
Dynamic analysis on the bionic propulsor imitating undulating fin of aquatic animals
Author :
Xie, Haibin ; Shen, Lincheng
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha
fYear :
2007
fDate :
15-18 Dec. 2007
Firstpage :
268
Lastpage :
273
Abstract :
The undulating fin propulsion mode belonged to one of MPF (median and/or paired fin) has a great potential and a bright prospect because of the remarkable advantages including capable of producing vector thrust, smaller disturbance to ambient flow field, as well as tending to transplant to underwater robots. In this paper, we will introduce a novel bionic propulsor that imitates the structure and function of the undulating fin of aquatic animals, and propose a simplified computational model to analyze the dynamics of the propulsor. The hydrodynamic model of the bionic propulsor including six components of forces and moments is derived theoretically. In addition, the basic relationships between the hydrodynamics of the bionic propulsor with the undulating motion parameters and geometric parameters of the fin surface as well as the velocity induced by its carrier are studied by means of simulation method. At last, the validity of the analytic method presented by the paper and the rationality of its relevant conclusions are preliminarily verified through conducting the thrust and moment test to the bionic propulsor.
Keywords :
biocybernetics; hydrodynamics; mobile robots; propulsion; robot dynamics; underwater vehicles; aquatic animals; bionic propulsor; hydrodynamic model; underwater robots; undulating fin propulsion; Animal structures; Automatic testing; Biomimetics; Computational modeling; Hydrodynamics; Marine animals; Propulsion; Robotics and automation; Robots; System testing; Bionic Propulsor; Dynamic Analysis; Undulating Fin;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
Type :
conf
DOI :
10.1109/ROBIO.2007.4522172
Filename :
4522172
Link To Document :
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