Design and Experimental Research on an Undulatory Robotic Fin

摘要：

We present experimental velocity, propulsion force and power measurements finding out that the significance level of shape and kinematics parameters of robotic fin to its propulsion performance. The data have been obtained through synchronous velocity, propulsive force and the power measurements on an undulatory robotic fin mechanism, at the Reynolds numbers 106. The lateral motion of the robotic fin is in the form of a travelling wave, the kinematics parameters we investigated are frequency, amplitude, wavelength and envelope line. According to the data of velocity, propulsive force and the power measurements, the propulsion efficiency can be conducted. The experimental result indicates that the velocity, propulsive force and propulsion efficiency is optimum with the fin shape is isosceles trapezoid, the frequency and amplitude of fluctuation is 1.67Hz and 100mm respectively. The optimization result is meaningful for the mechanical design of undulatory fin propulsion.

关键词： robotic fin propulsive force propulsion efficiency

作者: Wen-guang Wu Qin Yan Shi-wu Zhang Yong-hua Zhang Jie Yang

作者单位: Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei,230027 China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2440-2444

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）