Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

Phi Luan Nguyen; Van Phu Do; Byung Ryong Lee

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Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

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This paper presents the dynamic modeling of a flexible tail for a robotic fish.For this purpose firstly,the flexible tail was simplified as a slewing beam actuated by a driving moment.The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory.In this equation,the resistive forces were estimated as a term analogous to viscous damping.Then,the modal analysis method was applied in order to derive an analytical solution of the governing equation,by which the relationship between the driving moment and the lateral movement of the flexible tail was described.Finally,simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model.It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.

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《仿生工程学报（英文版）》 |2013年第1期|39-45|共7页
作者
Phi Luan Nguyen; Van Phu Do; Byung Ryong Lee;
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作者单位

Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan,Daehak-ro 93, Nam-gu, Ulsan 680-749, South Korea;

Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan,Daehak-ro 93, Nam-gu, Ulsan 680-749, South Korea;

School of Mechanical Engineering, University of Ulsan, Daehak-ro 93, Nam-gu, Ulsan 680-749, South Korea;

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Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

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