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This paper investigates the three dimensional hydrodynamics of a fishlike robot swimming in the straight forward way under self-propulsion. The unsteady flow fields associated with swimming robot is computed by using Navier-Stokes equation. Both the user defined function and dynamic mesh technique are applied to track the robot motion. The results show that the mean magnitudes of net thrust force...
This paper reveals a new phenomenon of the body side-sway for rigid robot fish and proposes three effective restraining methods. The body side-sway problem is produced by the lateral component of hydrodynamic force and inertial force, while influenced by mass distribution of fish body and oscillating rules of caudal fin. Considering the body side-sway, a virtual prototype for two-joint robot fish,...
This paper proposes a modular design method for realizing the torpedo-shape robot fish (ldquoHRF-IIrdquo). By biological inspiration, a tail propulsive module and an up-down motion module upon the robot fish are developed respectively. Considering the design principle and power estimation on each module, a robot prototype is completed to conduct the underwater test. The experimental results state...
This paper proposes a new way for improving the swimming efficiency of fishlike robots. The approach is based on the observation of natural fishes whose muscle tendons play the role of ldquobiological springsrdquo. These springs allow the fish to recover a part of the energy usually lost (by dissipation in the actuators). Mechanically, this energy is produced by the negative work of inertial forces...
To realize fish-like robot swimming behaviors poses tremendous challenges, especially for the realization of fish body. This paper highlights the system design and experimental research of a free-swimming biomimetic robot fish. By propulsive theories, a design scheme concerning with both physical realization and control methods is presented, where multiple linked robot fish propelled by a flexible...
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