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Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

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Abstract

A robotic fish driven by oscillating fins, “Cownose Ray-I”, is developed, which is in dorsoventrally flattened shape without a tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in the design of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver. Forward velocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beat frequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results on maneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition, as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0.15 m·s−1.

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Authors and Affiliations

  1. Institute of Mechatronical Engineering and Automatization, National University of Defense Technology, Changsha, 410073, P. R. China

    Shao-bo Yang, Jing Qiu & Xiao-yun Han

Authors
  1. Shao-bo Yang
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  2. Jing Qiu
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  3. Xiao-yun Han
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Correspondence to Shao-bo Yang.

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Yang, Sb., Qiu, J. & Han, Xy. Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish. J Bionic Eng 6, 174–179 (2009). https://doi.org/10.1016/S1672-6529(08)60114-6

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  • DOI: https://doi.org/10.1016/S1672-6529(08)60114-6

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