Design and Experiments of Robot Fish Propelled by Pectoral Fins

摘要：

This paper described our work in probing into fish robot with pectoral fin propulsion. The aim of this project is to develop a robot fish mimicking cownose ray that swims with flexible pectoral fins in oscillation motion. According to the analysis of cownose raymotion, a novel robot fish prototype propelled by pectoral fins was designed, The effect of flapping parameters (frequency and amplitude) and flexibility of fins on the propulsive performance was studied through a series of experiments underwater. Experiments showed that the velocity was almost in linear relationship with flapping frequency and amplitude below 2.0Hz, and the propulsive efficiency without chord-wise or span-wise ribs is higher than that with ribs. The conclusion is deduced that if the flexibility was selected properly, the pectoral fins with flapping mode would be an efficient propulsion mode for underwater vehicles.

作者: Jun Gao Shusheng Bi Ji Li Cong Liu

作者单位: Robotics Institute of Beihang University,Beijing,China Robotics Institute of Beihang University,Beijing

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: 445-450

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）