Statistical Hydrodynamics Modeling of Two-dimensional Undulating Fins for Robotic Fish
Undulation fishes, whose propulsion is mainly achieved by undulating ribbon fins, are good at maneuvering or stabilizing at low speeds. This paper suggests and proposes a two-dimensional approximate computational model before presenting an initial analysis on undulation propulsion scheme. It is believed that this mode has a better potential for exploitation in artificial underwater systems. Hydrodynamics of two-dimensional undulating fins under a series of kinematical parameter sets is explored via numerical simulation. The periodicity of undulation forces and moments is herein studied. The effects of wavelength, undulation frequency, and undulation amplitude are investigated. Furthermore, a dimensionless two-parameter model for undulation surge force is established with a given wavelength (for example, a single wavelength or dual wavelength). The work in this paper is able to provide studies on bionic undulation mode. It has also formed a meaningful basis for three-dimensional hydrodynamics and corresponding control methods in bionic undulation robots.
Han Zhou Daibing Zhang Tianjiang Hu Haibin Xie Lincheng Shen
College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha 410073,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1663-1668
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）