Dynamic Modeling of a Flexible Tail Fin for a Robotic Fish

摘要：

　　This paper presents the dynamic modelling of a flexible tail fin for a robotic fish.First,in this framework,the flexible tail fin was simply modelled as a rotated beam actuated by a time varying moment.Then,the governing equation of the flexible tail fin was derived by using the Euler-Bernoulli theory.The resistive forces were estimated as a term analogous to viscous damping.Next,the modal analysis method was applied to derive an analytical solution that described a relationship between the applied torque and the lateral movement of the flexible tail fin.Finally,some experiments were carried out to verify the accuracy of the dynamic model.

关键词： fish robot flexible tail dynamic modeling

作者: Phi Luan Nguyen Van Phu Do Byung Ryong Lee

作者单位: Intelligent Control and Mechatronics Lab, School of Mechanical Engineering, University of Ulsan, Uls School of Mechanical Engineering, University of Ulsan, Ulsan, Korea

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 431-436

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）