Skip to main content
SpringerLink
Log in

Thrust and swimming speed analysis of fish robot with non-uniform flexible tail

  • Published:
Journal of Bionic Engineering Aims and scope Submit manuscript

Abstract

We present a dynamic model of a fish robot with a Non-uniform Flexible Tail (NFT). We investigate the tendencies of the thrust and swimming speed when the input driving moment changes. Based on the proposed dynamic model of the NFT, we derive the thrust estimation, equation of motion, and performance evaluation of a fish robot with a NFT. By defining the optimal stiffness of the NFT in simulation, a fish robot prototype is then designed and fabricated. Aseries of experiments are performed to verify the proposed model. Experiment results are in good agreement with simulation data. The results show that the thrust and swimming speed of the fish robot are proportional to the amplitude of the driving moment. There are two resonant frequencies (f = 1.4 Hz and 2.2 Hz), the maximum thrust and swimming speed (about 0.7 BL×s−1) are found to be around f = 1.4 Hz. The above results inidicate the proposed model is suitable for predicting the behavior, thrust and swimming speed of a fish robot with a NFT.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Sfakiotakis M, Lane D M, Davies J B C. Review of fish swimming modes for aquatic locomotion. IEEE Journal of Oceanic Engineering, 1999, 24, 237–252.

    Article  Google Scholar 

  2. Liu Y, Chen W, Liu J. Research on the swing of the body of two-joint robot fish. Journal of Bionic Engineering, 2008, 5, 159–165.

    Article  Google Scholar 

  3. Liu J, Hu H. Biological inspiration: From carangiform fish to multi-joint robotic fish. Journal of Bionic Engineering, 2010, 7, 35–48.

    Article  Google Scholar 

  4. Liu J, Hu H. A 3D simulator for autonomous robotic fish. International Journal of Automation and Computing, 2004, 1, 42–50.

    Article  Google Scholar 

  5. Gi-Hun Y, Choi W, Lee S H, Kim K S, Choi H S, Ryuh Y S. Control and design of a 3 DOF fish robot ‘ICHTUS’. IEEE International Conference on Robotics and Biomimetics (ROBIO), Karon Beach, Phuket, Thailand, 2011, 2108–2113.

    Google Scholar 

  6. Yang L, Su Y, Xiao Q. Numerical study of propulsion mechanism for oscillating rigid and flexible tuna-tails. Journal of Bionic Engineering, 2011, 8, 406–417.

    Article  Google Scholar 

  7. Barrett D S, Triantafyllou M S, Yue D K P, Grosebaugh M A, Wolfgang M J. Drag reduction in fish-like locomotion. Journal of Fluid Mechanics, 1999, 392, 183–212.

    Article  MathSciNet  MATH  Google Scholar 

  8. Triantafyllou M S, Triantafyllou G S, Yue D K P. Hydrodynamics of Fishlike Swimming. Annual Review of Fluid Mechanics, 2000, 32, 33–53.

    Article  MathSciNet  MATH  Google Scholar 

  9. Yu J, Liu Z, Wang L. Dynamic modeling of robotic fish using Schiehien’s method. IEEE International Conference on Robotics and Biomimetics, ROBIO’06, Kunmin, China, 2006, 457–462.

    Google Scholar 

  10. Lighthill M J. Note on the swimming of slender fish. Journal of Fluid Mechanics, 1960, 9, 305–317.

    Article  MathSciNet  Google Scholar 

  11. Wang H. Design and Implementation of Biomimetic Robotic Fish. Ms thesis, Mechanical and Industrial Engineering, Concordia University, Canada, 2009.

    Google Scholar 

  12. McHenry M, Pell C, Jr J. Mechanical control of swimming speed: stiffness and axial wave form in undulating fish models. Journal of Experimental Biology, 1995, 198, 2293–2305.

    Google Scholar 

  13. Nguyen P L, Do V P, Lee B R. Dynamic modeling of a non-uniform flexible tail for a robotic fish. Journal of Bionic Engineering, 2013, 10, 201–209.

    Article  Google Scholar 

  14. Alvarado P V, Youcef-Toumi K. Design of machines with compliant bodies for biomimetic locomotion in liquid environments. Journal of Dynamic Systems, Measurement, and Control, 2006, 128, 3–13.

    Article  Google Scholar 

  15. Lighthill M J. Hydromechanics of aquatic animal propulsion. Annual Review of Fluid Mechanics, 1969, 1, 413–446.

    Article  Google Scholar 

  16. Long Jr J H, Adcock B, Root R G. Force transmission via axial tendons in undulating fish: A dynamic analysis. Comparative Biochemistry and Physiology Part A: Molecular & Integrative Physiology, 2002, 133, 911–929.

    Article  Google Scholar 

  17. Nikkhah Bahrami M, Khoshbayani Arani M, Rasekh Saleh N. Modified wave approach for calculation of natural frequencies and mode shapes in arbitrary non-uniform beams. Scientia Iranica, 2011, 18, 1088–1094.

    Article  Google Scholar 

  18. Mohammadshahi D, Yousefi-koma A, Bahmanyar S, Ghassemi H, Maleki H. Design, fabrication and hydrodynamic analysis of a biomimetic robot fish. Proceedings of the 10th WSEAS International Conference on Automatic Control, Modelling & Simulation, Istanbul, Turkey, 2008, 249–254.

    Google Scholar 

  19. Alben S. Simulating the dynamics of flexible bodies and vortex sheets. Journal of Computational Physics, 2009, 228, 2587–2603.

    Article  MathSciNet  MATH  Google Scholar 

  20. Alben S, Witt C, Baker T V, Anderson E, V. Lauder G. Dynamics of freely swimming flexible foils. Physics of Fluids, 2012, 24, 051901.

  21. El Daou H, Salumae T, Toming G, Kruusmaa M. A bio-inspired compliant robotic fish: Design and experiments. The IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, 2012, 5340–5345.

    Google Scholar 

  22. Suppiger E, Taleb N. Free lateral vibration of beams of variable cross section. Zeitschrift für angewandte Mathematik und Physik ZAMP, 1956, 7, 501–520.

    Article  MathSciNet  MATH  Google Scholar 

  23. Lighthill M J. Large-Amplitude Elongated-Body Theory of Fish Locomotion. Proceedings of the Royal Society of London. Series B. Biological Sciences, 1971, 179, 125–138.

    Article  Google Scholar 

  24. NASA. Shape Effects on Drag, [2015-05-15], http://www.grc.nasa.gov/WWW/k-12/airplane/shaped.html.

  25. PVC Foam Sheet (Foamex), http://www.par-group.co.uk/engineering-plastics/plastic-sheet/pvc-foam-sheet-foamex/

  26. Point Grey, [2015], http://www.ptgrey.com//bumblebee2- firewire-stereo-vision-camera-systems

  27. Bainbridge R. Caudal fin and body movement in the propulsion of some fish. Journal of Experimental Biology, 1963, 40, 23–56.

    Google Scholar 

  28. Zweife J R H A J R. Swimming speed, tail beat frequency tail beat amplitude, and size in jack mackerel, Trucharzcs symmetricas, and other fishes. Fishery Bulletin. 1971, 69, 253–267.

    Google Scholar 

  29. Webb P W. ‘Steady’ swimming kinematics of tiger musky, an esociform accelerator, and rainbow trout, a generalist cruiser. Journal of Experimental Biology, 1988, 138, 51–69.

    Google Scholar 

  30. Anderson J M, Chhabra N K. Maneuvering and stability performance of a robotic tuna. Integrative & Comparative Biology, 2002, 42, 1026–1031.

    Article  Google Scholar 

  31. Yu J, Tan M, Wang S, and Chen E. Development of a biomimetic robotic fish and its control algorithm. IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, 2004, 34, 1798–1810.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, University of Ulsan, Ulsan, Korea

    Phi Luan Nguyen, Byung Ryong Lee & Kyoung Kwan Ahn

Authors
  1. Phi Luan Nguyen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Byung Ryong Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Kyoung Kwan Ahn
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Kyoung Kwan Ahn.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Nguyen, P.L., Lee, B.R. & Ahn, K.K. Thrust and swimming speed analysis of fish robot with non-uniform flexible tail. J Bionic Eng 13, 73–83 (2016). https://doi.org/10.1016/S1672-6529(14)60161-X

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1016/S1672-6529(14)60161-X

Keywords

Search

Navigation